A method for backtracking data from drone inspections

Abstract

This invention relates to a method for backtracking unmanned aerial vehicle (UAV) inspection data. The method includes: receiving a first backtracking instruction; when the first backtracking type is a first type, extracting a first UAV number, a first flight time period, a first data type, and a first pose type from first backtracking parameters; and performing single-UAV inspection data backtracking processing based on the first UAV number, the first flight time period, the first data type, the first pose type, and a preset UAV inspection database; when the first backtracking type is a second type, extracting a first fixed-point time, a first fixed-point coordinate, a first range radius, a second data type, and a second pose type from the first backtracking parameters; and performing fixed-point inspection data backtracking processing based on the first fixed-point time, the first fixed-point coordinate, the first range radius, the second data type, the second pose type, and the UAV inspection database. This invention can improve the reuse rate and retrieval efficiency of historical inspection data.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method for retrospective processing of UAV inspection data. Background Technology

[0002] Using drones to inspect semi-open areas such as dams, reservoirs, and hydropower plants can save on inspection costs and expand the inspection scope. However, in conventional drone inspections, only the captured video footage is played back in real-time, and real-time warnings are identified based on the video or images. Afterwards, only the historical inspection data (image or video data) is simply archived; no corresponding data retrospective processing mechanism is created. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a method, electronic device, and computer-readable storage medium for backtracking processing of UAV inspection data. It pre-constructs a UAV inspection database based on historical inspection data, and then provides a backtracking processing mechanism based on this database. This mechanism includes two backtracking methods: single-UAV inspection data backtracking and fixed-point inspection data backtracking. Through this invention, inspection images or videos of any UAV at any time period based on any pose (orthogonal pose, tilted pose, and panoramic pose) can be backtracked; and inspection images or videos of all UAVs at any time and location with the same pose (orthogonal pose, tilted pose, and panoramic pose) can be backtracked.

[0004] To achieve the above objectives, a first aspect of the present invention provides a method for backtracking processing of UAV inspection data, the method comprising:

[0005] Receive a first backtracking instruction; the first backtracking instruction includes a first backtracking type and a first backtracking parameter; the first backtracking type includes a first type and a second type;

[0006] When the first backtracking type is the first type, the first UAV number, the first flight time period, the first data type, and the first pose type are extracted from the first backtracking parameters; and single-UAV inspection data backtracking processing is performed based on the first UAV number, the first flight time period, the first data type, the first pose type, and the preset UAV inspection database.

[0007] When the first backtracking type is the second type, the first fixed-point time, the first fixed-point coordinates, the first range radius, the second data type, and the second pose type are extracted from the first backtracking parameters; and fixed-point inspection data backtracking processing is performed based on the first fixed-point time, the first fixed-point coordinates, the first range radius, the second data type, the second pose type, and the UAV inspection database.

[0008] The first and second data types both include image types and video types; the first and second pose types both include orthographic pose, tilted pose, and panoramic pose.

[0009] Preferably, the UAV inspection database includes multiple first inspection data records;

[0010] The first inspection data record includes a first UAV number field, a first time field, a first coordinate field, a first altitude field, a first pitch angle field, a first rotation angle field, a first data type field, and a first data field;

[0011] The first type of field includes image type and video type;

[0012] When the first type field is an image type, the data stored in the first data field is image data; when the first type field is a video type, the data stored in the first data field is video data.

[0013] Preferably, the step of performing single-drone inspection data backtracking processing based on the first drone number, the first flight time period, the first data type, the first pose type, and a preset drone inspection database specifically includes:

[0014] Extract all the first inspection data records in the UAV inspection database that match the first UAV number field with the first UAV number, satisfy the first flight period in the first time field, and match the first data type field with the first data type to form a corresponding first inspection data record set.

[0015] When the first pose type is a directional orthogonal pose, the first inspection data records with the first pitch angle field of -90° and the first rotation angle field of 0° are selected from the first inspection data record set to form a corresponding second inspection data record set; and the first inspection data records in the second inspection data record set are sorted according to the time sequence of the first time field to generate a corresponding first inspection data record sequence; when the first data type is an image type, the image data of the first data field of each first inspection data record in the first inspection data record sequence is extracted one by one to form a corresponding first image data sequence; and when the first data type is a video type, the video data of the first data field of each first inspection data record in the first inspection data record sequence is extracted one by one to form a corresponding first video data sequence.

[0016] When the first pose type is a tilt pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 0° are selected from the first inspection data record set to form a corresponding third inspection data record set; and the first inspection data records in the third inspection data record set are sorted according to the time sequence of the first time field to generate a corresponding second inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the second inspection data record sequence is extracted one by one to form a corresponding first image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the second inspection data record sequence is extracted one by one to form a corresponding first video data sequence.

[0017] When the first pose type is a panoramic pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 360° are selected from the first inspection data record set to form a corresponding fourth inspection data record set; and the first inspection data records in the fourth inspection data record set are sorted according to the time sequence of the first time field to generate a corresponding third inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the third inspection data record sequence is extracted one by one to form a corresponding first image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the third inspection data record sequence is extracted one by one to form a corresponding first video data sequence.

[0018] The obtained first image data sequence is displayed sequentially, or the obtained first video data sequence is played sequentially.

[0019] Preferably, the step of performing fixed-point inspection data backtracking processing based on the first fixed-point time, the first fixed-point coordinates, the first range radius, the second data type, the second pose type, and the UAV inspection database specifically includes:

[0020] Extract all first inspection data records from the UAV inspection database that have the first time field matching the first fixed point time, the first coordinate field being no more than the first range radius from the first fixed point coordinates, and the first data type field matching the first data type to form a corresponding fifth inspection data record set.

[0021] When the second pose type is a directional orthogonal pose, the first inspection data record with the first pitch angle field of -90° and the first rotation angle field of 0° is selected from the fifth inspection data record set to form the corresponding sixth inspection data record set; and the first inspection data records in the sixth inspection data record set are sorted according to the order of the first UAV number field to generate the corresponding fifth inspection data record sequence; when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the fifth inspection data record sequence is extracted one by one to form the corresponding second image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the fifth inspection data record sequence is extracted one by one to form the corresponding second video data sequence.

[0022] When the second pose type is a tilt pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 0° are selected from the fifth inspection data record set to form the corresponding seventh inspection data record set; and the first inspection data records in the seventh inspection data record set are sorted according to the order of the first UAV number field to generate the corresponding sixth inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the sixth inspection data record sequence is extracted one by one to form the corresponding second image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the sixth inspection data record sequence is extracted one by one to form the corresponding second video data sequence.

[0023] When the second pose type is a panoramic pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 360° are selected from the fifth inspection data record set to form the corresponding eighth inspection data record set; and the first inspection data records in the eighth inspection data record set are sorted according to the order of the first UAV number field to generate the corresponding seventh inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the seventh inspection data record sequence is extracted one by one to form the corresponding second image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the seventh inspection data record sequence is extracted one by one to form the corresponding second video data sequence.

[0024] The obtained second image data sequence is displayed sequentially, or the obtained second video data sequence is played sequentially.

[0025] A second aspect of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0026] The processor is used to couple with the memory, read and execute instructions in the memory to implement the steps of the method described in the first aspect above;

[0027] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0028] A third aspect of the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the instructions described in the first aspect.

[0029] This invention provides a method for backtracking UAV inspection data, an electronic device, and a computer-readable storage medium. A UAV inspection database is pre-constructed based on historical inspection data, and then a backtracking mechanism is provided based on this database. This mechanism includes two backtracking methods: single-UAV inspection data backtracking and fixed-point inspection data backtracking. Through this invention, inspection images or videos of any UAV at any time period based on any pose (orthogonal pose, tilted pose, and panoramic pose) can be backtracked; inspection images or videos of all UAVs with the same pose (orthogonal pose, tilted pose, and panoramic pose) at any time and location can also be backtracked. This enriches the data backtracking mechanism for historical inspection data, improves the reuse rate of historical inspection data, and enhances the retrieval efficiency of historical inspection data. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a method for backtracking inspection data provided in Embodiment 1 of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of an electronic device provided in Embodiment 2 of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0033] Figure 1 This is a schematic diagram of a method for backtracking data processing of unmanned aerial vehicle (UAV) inspection provided in Embodiment 1 of the present invention, as shown below. Figure 1 As shown, this method mainly includes the following steps:

[0034] Step 1: Receive the first backtracking instruction;

[0035] The first backtracking instruction includes a first backtracking type and a first backtracking parameter; the first backtracking type includes a first type and a second type.

[0036] Here, when the first backtracking type is Type 1, it means that the data backtracking processing method is single-machine inspection data backtracking processing method. In this case, the first backtracking parameters should include the first UAV number, the first flight time period, the first data type, and the first pose type. When the first backtracking type is Type 2, it means that the data backtracking processing method is fixed-point inspection data backtracking processing method. In this case, the first backtracking parameters should include the first fixed-point time, the first fixed-point coordinates, the first range radius, the second data type, and the second pose type.

[0037] Before describing the subsequent steps, the UAV inspection database pre-constructed based on historical inspection data in this embodiment of the invention will be described first: The UAV inspection database includes multiple first inspection data records; the first inspection data record includes a first UAV number field, a first time field, a first coordinate field, a first altitude field, a first pitch angle field, a first rotation angle field, a first data type field, and a first data field; the first type field includes image type and video type; when the first type field is image type, the data stored in the first data field is image data, and when the first type field is video type, the data stored in the first data field is video data.

[0038] Here, when the first pitch angle field is -90°, the image data or video data stored in the first data field is orthophoto image data or orthophoto video data; when the first pitch angle field is not -90°, the image data or video data stored in the first data field is tilted image data or tilted video data; when the first rotation angle field is 0°, the image data or video data stored in the first data field is directional image data or directional video data; when the first rotation angle field is 360°, the image data or video data stored in the first data field is panoramic image data or panoramic video data.

[0039] Step 2: When the first backtracking type is the first type, extract the first UAV number, the first flight time period, the first data type, and the first attitude type from the first backtracking parameters; and perform single-UAV inspection data backtracking processing based on the first UAV number, the first flight time period, the first data type, the first attitude type, and the preset UAV inspection database.

[0040] The first data type includes image type and video type; the first pose type includes orthographic pose, tilted pose and panoramic pose.

[0041] Specifically, it includes: Step 21, when the first backtracking type is the first type, extracting the first UAV number, the first flight time period, the first data type and the first attitude type from the first backtracking parameters;

[0042] Step 22: Perform single-drone inspection data backtracking processing based on the first drone number, first flight time period, first data type, first attitude type, and preset drone inspection database;

[0043] Specifically, step 221 involves extracting all first inspection data records from the drone inspection database that match the first drone number field with the first drone number, satisfy the first flight period field with the first data type field with the first data type, and form a corresponding first inspection data record set.

[0044] Here, the first inspection data record set obtained is the historical inspection data set stored by the drone corresponding to the first drone number during the first flight period; if the first data type is an image type, then the first inspection data record set obtained is the historical inspection image data set, and if the first data type is a video type, then the first inspection data record set obtained is the historical inspection video data set.

[0045] Step 222: When the first pose type is a directional orthogonal pose, select the first inspection data record with a first pitch angle field of -90° and a first rotation angle field of 0° from the first inspection data record set to form the corresponding second inspection data record set; and sort the first inspection data records in the second inspection data record set according to the time sequence of the first time field to generate the corresponding first inspection data record sequence; when the first data type is an image type, extract the image data of the first data field of each first inspection data record in the first inspection data record sequence to form the corresponding first image data sequence; and when the first data type is a video type, extract the video data of the first data field of each first inspection data record in the first inspection data record sequence to form the corresponding first video data sequence.

[0046] Here, the pose states of the UAV in the first inspection data record set obtained in step 221 may be different. The current step is to select the historical inspection data of the UAV pose state, i.e. the first pose type is directional orthogonal pose, from the first inspection data record set to form the corresponding image data sequence or video data sequence, i.e., the first image data sequence or the first video data sequence. The so-called directional orthogonal pose here means that the UAV takes images or videos of the area below the UAV from the air with a bird's-eye view perpendicular to the ground, and the rotation angle of the camera is 0° when taking the pictures.

[0047] Step 223: When the first pose type is a tilt pose, select the first inspection data record from the first inspection data record set where the first pitch angle field is not -90° and the first rotation angle field is 0° to form the corresponding third inspection data record set; and sort the first inspection data records in the third inspection data record set according to the time sequence of the first time field to generate the corresponding second inspection data record sequence; when the first data type is an image type, extract the image data of the first data field of each first inspection data record in the second inspection data record sequence to form the corresponding first image data sequence; and when the first data type is a video type, extract the video data of the first data field of each first inspection data record in the second inspection data record sequence to form the corresponding first video data sequence.

[0048] Here, the current step is to select the first historical inspection data with the first pose type of directional tilt pose from the first inspection data record set to form the corresponding image data sequence or video data sequence, namely the first image data sequence or the first video data sequence; the so-called directional tilt pose here means that the UAV takes images or videos of the UAV below the UAV from a slanted view angle with an angle of less than 90° with the ground, and the rotation angle of the camera is 0° when taking pictures.

[0049] Step 224: When the first pose type is a panoramic pose, select the first inspection data record from the first inspection data record set whose first pitch angle field is not -90° and whose first rotation angle field is 360° to form the corresponding fourth inspection data record set; and sort the first inspection data records in the fourth inspection data record set according to the time sequence of the first time field to generate the corresponding third inspection data record sequence; when the first data type is an image type, extract the image data of the first data field of each first inspection data record in the third inspection data record sequence to form the corresponding first image data sequence; and when the first data type is a video type, extract the video data of the first data field of each first inspection data record in the third inspection data record sequence to form the corresponding first video data sequence.

[0050] Here, the current step is to select the first historical inspection data with a panoramic pose type from the first inspection data record set to form the corresponding image data sequence or video data sequence, i.e., the first image data sequence or the first video data sequence; the so-called panoramic pose here refers to the UAV taking images or videos of the area below the UAV from a slanted view angle with an angle not equal to 90° with the ground, and the camera rotating 360° during the shooting; the first image data sequence or the first video data sequence obtained at this time is a set of panoramic images or a set of panoramic videos;

[0051] Step 225: Display or play the obtained first image data sequence or first video data sequence sequentially.

[0052] Here, the current step is actually to replay a segment of historical inspection data of the drone corresponding to the first drone number during the first flight period.

[0053] Step 3: When the first backtracking type is the second type, extract the first fixed-point time, first fixed-point coordinates, first range radius, second data type and second pose type from the first backtracking parameters; and perform fixed-point inspection data backtracking processing based on the first fixed-point time, first fixed-point coordinates, first range radius, second data type, second pose type and UAV inspection database.

[0054] The second data type includes image type and video type; the second pose type includes orthogonal pose, tilted pose, panoramic orthogonal pose and panoramic tilted pose.

[0055] Specifically, it includes: Step 31, when the first backtracking type is the second type, extracting the first fixed point time, the first fixed point coordinates, the first range radius, the second data type and the second pose type from the first backtracking parameters;

[0056] Step 32: Perform fixed-point inspection data backtracking processing based on the first fixed-point time, first fixed-point coordinates, first range radius, second data type, second pose type, and UAV inspection database;

[0057] Specifically, step 321 involves extracting all first inspection data records from the UAV inspection database that have a first time field that matches the first fixed point time, a first coordinate field that is no more than the first range radius from the first fixed point coordinates, and a first data type field that matches the first data type to form a corresponding fifth inspection data record set.

[0058] Here, the fifth inspection data record set is the historical inspection data set of all passing drones within a specified area centered on the first fixed point coordinates and with the first range radius as the radius, at the first fixed point time; if the first data type is image type, then the fifth inspection data record set is the historical inspection image data set of all passing drones; if the first data type is video type, then the fifth inspection data record set is the historical inspection video data set of all passing drones.

[0059] Step 322: When the second pose type is a directional orthogonal pose, select the first inspection data record with a first pitch angle field of -90° and a first rotation angle field of 0° from the fifth inspection data record set to form the corresponding sixth inspection data record set; and sort the first inspection data records in the sixth inspection data record set according to the order of the first UAV number field to generate the corresponding fifth inspection data record sequence; when the first data type is an image type, extract the image data of the first data field of each first inspection data record in the fifth inspection data record sequence to form the corresponding second image data sequence; and when the first data type is a video type, extract the video data of the first data field of each first inspection data record in the fifth inspection data record sequence to form the corresponding second video data sequence.

[0060] Here, the pose states of each UAV in the fifth inspection data record set obtained in step 321 may be different. The current step is to select historical inspection data of UAV pose states, i.e., the second pose type, which are all directional orthogonal poses from the fifth inspection data record set to form the corresponding image data sequence or video data sequence, i.e., the second image data sequence or the second video data sequence.

[0061] Step 323: When the second pose type is a tilt pose, select the first inspection data record from the fifth inspection data record set whose first pitch angle field is not -90° and whose first rotation angle field is 0° to form the corresponding seventh inspection data record set; and sort the first inspection data records in the seventh inspection data record set according to the order of the first UAV number field to generate the corresponding sixth inspection data record sequence; when the first data type is an image type, extract the image data of the first data field of each first inspection data record in the sixth inspection data record sequence to form the corresponding second image data sequence; and when the first data type is a video type, extract the video data of the first data field of each first inspection data record in the sixth inspection data record sequence to form the corresponding second video data sequence.

[0062] Here, the current step is to select historical inspection data from the fifth inspection data record set, in which the UAV pose state, i.e., the second pose type, is a directional tilt pose, to form a corresponding image data sequence or video data sequence, i.e., the second image data sequence or the second video data sequence.

[0063] Step 324: When the second pose type is a panoramic pose, select the first inspection data record from the fifth inspection data record set whose first pitch angle field is not -90° and whose first rotation angle field is 360° to form the corresponding eighth inspection data record set; and sort the first inspection data records in the eighth inspection data record set according to the order of the first UAV number field to generate the corresponding seventh inspection data record sequence; when the first data type is an image type, extract the image data of the first data field of each first inspection data record in the seventh inspection data record sequence to form the corresponding second image data sequence; and when the first data type is a video type, extract the video data of the first data field of each first inspection data record in the seventh inspection data record sequence to form the corresponding second video data sequence.

[0064] Here, the current step is to select historical inspection data from the fifth inspection data record set in which the UAV pose state, i.e., the second pose type, is a panoramic pose, to form a corresponding image data sequence or video data sequence, i.e., the second image data sequence or the second video data sequence.

[0065] Step 325: Display the obtained second image data sequence sequentially or play the obtained second video data sequence sequentially.

[0066] Here, the current step is actually to replay the historical inspection data set of all passing drones within a specified area centered on the first fixed point coordinates and with the first range radius as the radius, at the first fixed point time.

[0067] Figure 2 This is a schematic diagram of an electronic device provided in Embodiment 2 of the present invention. This electronic device can be the aforementioned terminal device or server, or it can be a terminal device or server connected to the aforementioned terminal device or server that implements the method of the embodiments of the present invention. Figure 2 As shown, the electronic device may include: a processor 301 (e.g., CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transmission and reception operations of the transceiver 303. The memory 302 may store various instructions for performing various processing functions and implementing the processing steps described in the foregoing method embodiments. Preferably, the electronic device involved in the embodiments of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to realize communication connections between components. The communication port 306 is used for communication between the electronic device and other peripherals.

[0068] exist Figure 2The system bus 305 mentioned can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, it is represented by only one thick line in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). Memory may include Random Access Memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0069] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), graphics processing units (GPUs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0070] It should be noted that the embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when run on a computer, cause the computer to perform the methods and processes provided in the above embodiments.

[0071] This invention also provides a chip for executing instructions, which is used to perform the processing steps described in the foregoing method embodiments.

[0072] This invention provides a method for backtracking UAV inspection data, an electronic device, and a computer-readable storage medium. A UAV inspection database is pre-constructed based on historical inspection data, and then a backtracking mechanism is provided based on this database. This mechanism includes two backtracking methods: single-UAV inspection data backtracking and fixed-point inspection data backtracking. Through this invention, inspection images or videos of any UAV at any time period based on any pose (orthogonal pose, tilted pose, and panoramic pose) can be backtracked; inspection images or videos of all UAVs with the same pose (orthogonal pose, tilted pose, and panoramic pose) at any time and location can also be backtracked. This enriches the data backtracking mechanism for historical inspection data, improves the reuse rate of historical inspection data, and enhances the retrieval efficiency of historical inspection data.

[0073] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0074] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0075] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for retrospective processing of UAV inspection data, characterized in that, The method includes: Receive a first backtracking instruction; the first backtracking instruction includes a first backtracking type and a first backtracking parameter; the first backtracking type includes a first type and a second type; When the first backtracking type is the first type, the first UAV number, the first flight time period, the first data type, and the first pose type are extracted from the first backtracking parameters; and single-UAV inspection data backtracking processing is performed based on the first UAV number, the first flight time period, the first data type, the first pose type, and the preset UAV inspection database. When the first backtracking type is the second type, the first fixed-point time, the first fixed-point coordinates, the first range radius, the second data type, and the second pose type are extracted from the first backtracking parameters; and fixed-point inspection data backtracking processing is performed based on the first fixed-point time, the first fixed-point coordinates, the first range radius, the second data type, the second pose type, and the UAV inspection database. Both the first and second data types include image types and video types; both the first and second pose types include orthographic pose, tilted pose, and panoramic pose. The drone inspection database includes multiple first inspection data records; The first inspection data record includes a first UAV number field, a first time field, a first coordinate field, a first altitude field, a first pitch angle field, a first rotation angle field, a first data type field, and a first data field; The first type of field includes image type and video type; When the first type field is an image type, the data stored in the first data field is image data; when the first type field is a video type, the data stored in the first data field is video data. The single-machine inspection data backtracking process specifically includes: Extract all the first inspection data records in the UAV inspection database that match the first UAV number field with the first UAV number, satisfy the first flight period in the first time field, and match the first data type field with the first data type to form a corresponding first inspection data record set. When the first pose type is a directional orthogonal pose, the first inspection data records with the first pitch angle field of -90° and the first rotation angle field of 0° are selected from the first inspection data record set to form a corresponding second inspection data record set; and the first inspection data records in the second inspection data record set are sorted according to the time sequence of the first time field to generate a corresponding first inspection data record sequence; when the first data type is an image type, the image data of the first data field of each first inspection data record in the first inspection data record sequence is extracted one by one to form a corresponding first image data sequence; and when the first data type is a video type, the video data of the first data field of each first inspection data record in the first inspection data record sequence is extracted one by one to form a corresponding first video data sequence. When the first pose type is a tilt pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 0° are selected from the first inspection data record set to form a corresponding third inspection data record set; and the first inspection data records in the third inspection data record set are sorted according to the time sequence of the first time field to generate a corresponding second inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the second inspection data record sequence is extracted one by one to form a corresponding first image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the second inspection data record sequence is extracted one by one to form a corresponding first video data sequence. When the first pose type is a panoramic pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 360° are selected from the first inspection data record set to form a corresponding fourth inspection data record set; and the first inspection data records in the fourth inspection data record set are sorted according to the time sequence of the first time field to generate a corresponding third inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the third inspection data record sequence is extracted one by one to form a corresponding first image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the third inspection data record sequence is extracted one by one to form a corresponding first video data sequence. The obtained first image data sequence is displayed sequentially, or the obtained first video data sequence is played sequentially. The fixed-point inspection data backtracking process specifically includes: Extract all first inspection data records from the UAV inspection database that have the first time field matching the first fixed point time, the first coordinate field being no more than the first range radius from the first fixed point coordinates, and the first data type field matching the first data type to form a corresponding fifth inspection data record set. When the second pose type is a directional orthogonal pose, the first inspection data record with the first pitch angle field of -90° and the first rotation angle field of 0° is selected from the fifth inspection data record set to form the corresponding sixth inspection data record set; and the first inspection data records in the sixth inspection data record set are sorted according to the order of the first UAV number field to generate the corresponding fifth inspection data record sequence; when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the fifth inspection data record sequence is extracted one by one to form the corresponding second image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the fifth inspection data record sequence is extracted one by one to form the corresponding second video data sequence. When the second pose type is a tilt pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 0° are selected from the fifth inspection data record set to form the corresponding seventh inspection data record set; and the first inspection data records in the seventh inspection data record set are sorted according to the order of the first UAV number field to generate the corresponding sixth inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the sixth inspection data record sequence is extracted one by one to form the corresponding second image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the sixth inspection data record sequence is extracted one by one to form the corresponding second video data sequence. When the second pose type is a panoramic pose, the first inspection data records with the first pitch angle field not being -90° and the first rotation angle field being 360° are selected from the fifth inspection data record set to form the corresponding eighth inspection data record set; and the first inspection data records in the eighth inspection data record set are sorted according to the order of the first UAV number field to generate the corresponding seventh inspection data record sequence; and when the first data type is an image type, the image data of the first data field of each of the first inspection data records in the seventh inspection data record sequence is extracted one by one to form the corresponding second image data sequence; and when the first data type is a video type, the video data of the first data field of each of the first inspection data records in the seventh inspection data record sequence is extracted one by one to form the corresponding second video data sequence. The obtained second image data sequence is displayed sequentially, or the obtained second video data sequence is played sequentially.

2. An electronic device, characterized in that, include: Memory, processor, and transceiver; The processor is coupled to the memory, reads and executes instructions in the memory to implement the steps of the method according to any one of claims 1; the transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

3. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a computer, cause the computer to perform the instructions of any one of claims 1.

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