37results about How to "Accurate planning" patented technology

The invention discloses a converter station valve hall unmanned inspection method, device and equipment and a storage medium, and relates to the technical field of converter station equipment inspection, and the converter station valve hall unmanned inspection method comprises the steps: obtaining to-be-inspected equipment and the priority of the to-be-inspected equipment; establishing a valve hall three-dimensional model containing equipment information by using a laser radar; planning an inspection path according to the equipment, the priority and the model, and determining current inspection equipment and information; acquiring an equipment image through an infrared camera and a high-definition camera, and inputting the equipment image into the fault detection model to obtain a preliminary result; and sending the preliminary result, the equipment information and the temperature, humidity, ultrasonic wave and gas monitoring data to a monitoring system or a cloud, and carrying out deep fault analysis to complete routing inspection. According to the method, the equipment state can be evaluated from multiple dimensions, the equipment fault in the converter station valve hall can be identified timely and accurately, the reliability and safety of the equipment are improved, and the stable operation of the converter station valve hall is ensured.

The invention discloses a 110KV power transmission line unmanned aerial vehicle cluster inspection control method and system, and relates to the technical field of power systems and automatic control, and the method comprises the steps: generating an inspection region three-dimensional map through first data, and carrying out the distributed task distribution through a first algorithm; performing path search based on three-dimensional expansion of a second algorithm; and a third control algorithm is adopted to realize unmanned aerial vehicle cluster coordinated flight, and a dynamic window method is combined to realize real-time obstacle avoidance. According to the method, the flight path of the unmanned aerial vehicle can be more accurately planned through three-dimensional expansion of an existing path planning algorithm in combination with topographic data, and unnecessary flight time and energy consumption are reduced; through cluster collaborative operation, multiple sections of power transmission lines can be inspected at the same time, the inspection time is greatly shortened, the operation efficiency is improved, all corners of the data lines are fully covered, and the blind area or missing detection problem is avoided.

The invention provides an excavator control method and system oriented to non-structural working conditions. According to the excavator control method and system oriented to the non-structural working condition, on one hand, according to the dynamic remodeling characteristic of earthwork in the excavation process, the excavation action track is planned through the earthwork state obtaining model and the excavation action planning model, the excavator control method and system can adapt to the non-structural working condition, and it is ensured that the operation effect is stable; on the second aspect, through real-time sensing and data feedback, the excavation action track can be adjusted in real time in the operation process, optimization is conducted according to the earthwork state, and the operation flexibility and effect can be improved; thirdly, by autonomously planning an excavation action track, the dependence on a manual operator can be reduced, the requirement of manual intervention is reduced, and the autonomous operation capability is improved; and fourthly, the mining action track is optimized through the mining action planning model, so that the energy consumption in the mining process can be reduced, the operation efficiency can be improved, and the operation cost can be reduced.

The invention discloses a multi-model-based non-ruled surface machining path interpolation method, which comprises the following steps of: generating machining path model information based on a workpiece machining path line and a driving geometry for defining a cutter shaft direction; the processing path model information at least comprises cutter location point track model information, cutter shaft point track model information and cutter location point and cutter shaft point correlation function information; iterative interpolation of geometry and processing speed is carried out based on the processing path model information, firstly geometric interpolation is carried out to carry out dense decomposition interpolation steps on the processing path, data of all the interpolation steps are arranged into a list according to the processing sequence, then processing speed setting is carried out, and the processing speed is set based on an interpolation cutter location point after geometric interpolation; position information of each physical axis is calculated and stored according to the cutter axis vector inverse solution of the interpolation cutter location point; and arranging the interpolated and inversed information into a control command list to drive the machine tool equipment. The machining track of the non-ruled surface can be more accurately planned, the machining error is reduced, and the precision is improved.

The invention provides an urban pipe gallery planning method and device, and belongs to the technical field of urban planning. The method comprises the steps that influence parameters of urban pipe gallery planning are acquired, and the type of an urban pipe gallery is determined according to the influence parameters; a first score corresponding to the first level planning, a second score corresponding to the second level planning and a third score corresponding to the third level planning are calculated through a preset data model according to the influence parameters, and the first score, the second score and the third score are adjusted based on the type of the urban pipe gallery. And determining a final plan of the urban pipe gallery according to the adjusted first score, the adjusted second score and the adjusted third score. The urban pipe gallery planning provided by the invention is more objective and reasonable.

The invention provides a vehicle navigation path planning method and related equipment, and is applied to the technical field of data processing. The method comprises the following steps: processing target user information to generate navigation preference information and target logistics attribute information of a target user; processing the navigation preference information of the target user and the target logistics attribute information to generate a vehicle dynamic influence factor; processing the target road information to generate attribute information of the target road and traffic information matched with the target road information; processing the attribute information of the target road and the traffic information matched with the target road information to generate a target road dynamic influence factor; processing a preset vehicle navigation path generation model based on the training sample set to generate a target vehicle navigation path generation model; and processing the vehicle dynamic influence factor and the target road dynamic influence factor based on a target vehicle navigation path generation model to generate target navigation route information.

The invention discloses a machine tool cutter space pose on-machine measurement device and a measurement method thereof, and the device comprises a calibration module which is installed at one side of a cutter handle of a cutter; a frequency-modulated continuous wave laser interference system and a galvanometer are installed on a vibration isolation workbench of the machine tool, light beams emitted by the frequency-modulated continuous wave laser interference system achieve conversion of a set angle through the galvanometer so as to cover the calibration module, and a space positioning algorithm is adopted to fit the plane where the target ball is located. And obtaining a deviation value between the mass center and the normal vector in two measurement results before and after machining, and taking the deviation value as the tool space pose error before and after machining of the machine tool, so that rapid and high-precision direct measurement of the tool space pose error is realized. The method has the advantages of being large in measurement range, high in measurement precision, simple in structure and low in cost, and the defect that in an existing method, the position and pose errors of the tool are indirectly calculated through an error model is overcome.

The invention discloses a hypersonic aircraft trajectory planning method based on an N-K iterative convex optimization algorithm, and relates to the field of trajectory planning. The invention aims to solve the problem that an existing aircraft trajectory planning method is difficult to accurately plan an aircraft trajectory. The method comprises the following steps: obtaining a nondimensionalized hypersonic gliding section dynamic model; obtaining a linearized hypersonic gliding section dynamic model; performing discretization processing on parameters in the linearized hypersonic gliding section dynamic model to obtain a hypersonic gliding section dynamic model after parameter discretization; obtaining a control quantity constraint, a process constraint and a trust region constraint in hypersonic flight vehicle trajectory optimization; and constructing a trajectory planning problem based on iterative convex optimization by using the hypersonic glide dynamic model after parameter discretization, the control quantity constraint, the process constraint and the trust region constraint, and solving the trajectory planning problem based on the iterative convex optimization to obtain a hypersonic flight vehicle trajectory planning result. The method is used for planning the aircraft trajectory.

The invention belongs to the technical field of automatic driving, and particularly relates to an automatic driving path planning method, which comprises the steps of S1, environment information acquisition and preprocessing: acquiring environment information around a vehicle by using various sensors, and performing fusion processing on the acquired multi-source sensor information, S2, map construction and updating, and S3, automatic driving path planning. The method comprises the following steps: S1, pre-processing environment information of a vehicle, constructing a local map according to the pre-processed environment information, and updating the map in real time according to received traffic information, S3, searching and optimizing a path, searching an initial path from a current position of the vehicle to a target position based on the constructed and updated map, and optimizing the searched initial path; the accuracy and integrity of the environment information are improved, so that the path can be planned more accurately, the flexibility and adaptability of path planning are improved, the operation cost of the vehicle is reduced, the driving efficiency is improved, and the safety and the driving continuity of the automatic driving vehicle are guaranteed.

The invention provides an AGV vehicle-mounted snow melting device and a path planning method, and belongs to the field of automatic wharf automatic guided vehicle equipment application and vehicle navigation, a path planning information input unit is used for providing coordinate information, AGV spreader gear information and spreading range information for a snow melting agent spreading map unit, and updating snow melting agent spreading map information in real time; an AGV path planning unit plans an AGV driving snow melting path according to the starting place and the destination of snow melting; the AGV navigation unit controls the AGV to run according to the AGV traveling snow melting path; the snow-melting agent spreading map unit is used for recording actual position information and driving path information, and recording a snow-melting agent spreading amount and a snow-melting agent spreading amount threshold value at the same time; the remote operation unit is used for receiving a driving control instruction sent by a user through the handheld terminal, controlling the spreading amount of the snow-melting agent and adjusting the spreading range; according to the invention, the snow-melting agent can be spread on the snow and ice accumulated road surface based on the operation of the AGV to realize snow melting and ice melting, so that the snow melting efficiency is higher and the snow melting is more intelligent.

The invention provides a path planning method, device and equipment for a new energy station based on digital twinning, and relates to an information processing technology in the field of new energy. In the application, a digital twinning intelligent operation and maintenance platform obtains information of each device, weather information and an accident position in a fire accident area in a digital twinning three-dimensional scene corresponding to a new energy station; determining a target parking position of the fire-fighting vehicle in the fire accident area according to the information of each device, the weather information and the accident position; and according to the predicted driving duration of the fire-fighting vehicle from the entrance position of the fire accident area to the target parking position, and the predicted number of the devices passing by by the fire-fighting vehicle, the probability of causing damage to the fire-fighting vehicle being greater than the first probability value, determining the optimal path of the fire-fighting vehicle driving from the entrance position to the target parking position. The method comprehensively considers various information in the fire accident area, can accurately plan the path which is more suitable for the fire-fighting vehicle to run, and improves the fire accident processing efficiency.

The invention relates to the technical field of motor position control, in particular to a direct-current servo motor position control method and system based on operation analysis, and the method comprises the steps: obtaining a target direct-current servo motor, obtaining a target model according to the target direct-current servo motor, obtaining a moving position parameter, and obtaining a plurality of parameter adjustment intervals, obtaining a plurality of parameter combinations based on a plurality of parameter adjustment intervals, obtaining an optimal operation state of a target direct current servo motor, obtaining a moving target site, obtaining a current site of the target direct current servo motor, constructing a moving path based on the current site and the moving target site, obtaining curve characteristics of the moving path, dividing the moving path, and obtaining the target direct current servo motor. The method comprises the steps of obtaining multiple sections of divided paths, simulating the divided paths, confirming energy-optimal parameter combinations, summarizing the energy-optimal parameter combinations, obtaining an energy-optimal parameter combination set, and completing direct current servo motor position control based on operation analysis on the basis of the energy-optimal parameter combination set. According to the invention, efficient energy consumption management and accurate position control can be realized.

The invention discloses a multi-unmanned aerial vehicle visual collaborative building scene recognition method and linkage system. The invention relates to the technical field of machine vision. And a bidirectional Bi-GRU neural network model is used as a coding layer of the Seq2Seq model. The coding layer is responsible for receiving the feature sequence S and capturing context information in the feature sequence S through forward and backward transmission of bidirectional Bi-GRU; the attention mechanism dynamically pays attention to information at different positions in a coding layer when a decoding layer generates an output sequence S, and outputs an intermediate vector C; the Seq2Seq model naturally supports unequal input and output sequence lengths, so that the technical scheme of the invention can flexibly cope with the challenge of different track lengths in cooperation of multiple unmanned aerial vehicles, and the effect of cooperative planning is improved. In combination with the Bi-GRU recurrent neural network and the attention mechanism, the model can comprehensively consider the flight path of the unmanned aerial vehicle, the building scene characteristics and the external environment change, and a more reasonable and efficient flight path planning scheme is generated.

The invention discloses an industrial and commercial energy storage effect evaluation method for dynamic attenuation of a battery and a related device, and the method comprises the steps: obtaining an annual battery capacity attenuation curve, and obtaining a battery circulation parameter; according to the battery cycle parameters, the charging and discharging times and the battery capacity attenuation value of each year in the actual battery capacity attenuation process and the total operation year are calculated; and calculating the charging and discharging income of each year according to the charging and discharging times and the battery capacity attenuation value of each year, solving the financial internal return rate of the energy storage system in the operation period in combination with the total operation year, and evaluating the industrial and commercial energy storage effect. According to the method, the lithium ion battery dynamic attenuation algorithm is fused in the industrial and commercial energy storage project effect evaluation process, so that the annual energy storage attenuation and charging and discharging times in the evaluation process can be accurately calculated, and the effect of the whole life cycle of the energy storage project can be more accurately evaluated.

The invention discloses an optimal site selection method of a phase-shifting transformer in a novel electric power system, and the method comprises the steps: building a dynamic planning model which takes the photovoltaic consumption rate, the power transmission capability of a power grid, and the investment and operation cost of the phase-shifting transformer as optimization indexes based on a dual-core symmetrical phase-shifting transformer model of equivalent impedance; according to the method, a novel calculation method for the transmission capacity of the power grid containing the phase-shifting transformer under the condition that photovoltaic uncertainty is considered is established, an additional judgment link is added into an improved multi-target particle swarm optimization solution strategy to solve an optimal solution set, and an optimal optimization scheme is selected according to a comprehensive evaluation method. According to the optimal configuration scheme established by the invention, the power grid power transmission capacity of the power transmission section and the power transmission capacity of the photovoltaic transmission section are improved, the photovoltaic consumption rate of the power system is further effectively improved, the superiority and universality are high for the optimal site selection problem of the phase-shifting transformer under the novel power system, and the method is easy to implement.

The invention discloses an action instruction generation method, computing equipment and a machine readable storage medium, and relates to the technical field of intelligent equipment. The method comprises the steps of querying a preset scene knowledge base based on an input task instruction to obtain background knowledge corresponding to the task instruction; generating an enhancement instruction based on the background knowledge and the task instruction; and inputting the enhancement instruction and the body state of the controlled equipment into a pre-trained action planning model to obtain an action instruction for driving the controlled equipment to execute a task. By introducing a scene knowledge base and an instruction enhancement mechanism, precise understanding and reliable planning of fuzzy or complex instructions by the controlled equipment are realized, and the adaptability and task success rate of the controlled equipment under strange environments and complex tasks are improved. And the action sequence which is safe and efficient and conforms to the context situation is generated, so that the capability of continuously learning and executing tasks in the open world of the controlled equipment is realized at lower cost.

The invention discloses a building construction progress supervision system and method based on big data, relates to the technical field of construction progress analysis, and effectively improves the construction efficiency of a project. According to the method, the number of workers corresponding to each secondary construction target and the linear relation equation between the construction material and the construction progress are obtained, the plurality of secondary construction nodes are established, and according to the number of workers corresponding to each secondary construction target and the linear relation equation between the construction material and the construction progress, the secondary construction target is constructed. Acquiring a first-level optimal construction sequence path and a second-level optimal construction sequence path corresponding to each first-level construction target under different initial construction conditions, and acquiring initial construction conditions and a building construction plan of the target building according to the building construction scheme, and a corresponding first-level optimal construction sequence path and a second-level optimal construction sequence path are matched to generate a construction progress scheme, and the construction progress scheme is executed.

The present application provides a method, device, storage medium and electronic device for encoding a respiratory path, the method may include: obtaining a first tracheal diameter of the airway position measured by intra-airway radial ultrasound technology and / or intra-airway optical coherence tomography technology; obtaining a second tracheal diameter of the airway position obtained by computer tomography technology; determining the tracheal path by comparing the first tracheal diameter and the second tracheal diameter, wherein the tracheal path is used to provide a doctor with a reference for reaching the lesion. Some embodiments of the present application can improve the accuracy of tracheal path encoding and provide valuable reference suggestions for doctors.

The invention discloses a supply chain optimization method for beer preparation in advance. Comprising the following steps: calling related parameters configured by a system page as data input; calculating the net demand of the warehouse; calculating to-be-produced capacity of a factory; calculating a capacity gap, summarizing the to-be-produced capacity of each product to a supplier factory and a production line type, and respectively calculating capacity data of the factory and the production line type; production scheduling is simulated, and the forward moving amount is calculated; calculating the maximum stock quantity; sorting a stock order; sequentially distributing according to the sequence; the result is corrected, and the advance stock quantity is output. According to the method, the optimal supplier is found for the demand, the productivity resources are uniformly distributed, cross-district communication is reduced, and the manual compiling time is saved. And meanwhile, by accurately calculating the forward moving amount, accurate planning of stock preparation is realized, the order satisfaction rate is improved with a lower stock water level, the cost is saved, and the warehouse pressure is reduced. And the stock quantity of a single product is limited in a maximum stock quantity mode, so that the stock overstock risk caused by factors such as market fluctuation is reduced.

The invention discloses a mechanical arm motion track planning method and device and a storage medium. The method comprises the steps that the target position of a moving object at the target moment is obtained, and the current pose of a mechanical arm at the current moment is obtained; based on the target position and the current pose, a single-point planning mode is adopted, and a first track of the mechanical arm clamping jaw reaching the target position and a target pose of the mechanical arm clamping jaw located at the target position in the first track are obtained through planning; based on the current pose and the target pose, a multi-point planning mode is adopted, and a second track is obtained through planning; and determining a target trajectory based on the first trajectory and the second trajectory. According to the method, the grabbing path of the moving object can be reasonably and accurately planned.

This invention discloses a collaborative scheduling system and method for driving and charging of connected heavy-duty vehicle clusters, relating to the technical field of intelligent management. The system includes the following steps: calculating the driving conversion coefficient and charging conversion coefficient of the vehicle cluster; calculating the vehicle cluster's transport capacity and transport efficiency; establishing a first mapping relationship and a second mapping relationship to obtain discrete transport capacity and discrete transport efficiency; matching collaborative vehicles; verifying the collaborative vehicles; and executing a first operation. This invention, by calculating the driving conversion coefficient and charging conversion coefficient of the vehicle cluster, more accurately predicts and plans the driving and charging needs of vehicles. Based on historical freight data and real-time order information, it allocates vehicle resources more rationally. Through collaborative scheduling, it reduces fuel consumption and electricity costs, reduces vehicle wear and maintenance costs, improves the response capability to emergencies by establishing mapping relationships and discretization analysis, and reduces idle time and improves vehicle utilization efficiency through intelligent scheduling.

The ship trajectory monitoring method and system based on Beidou positioning of the present invention belong to the field of radio positioning technology. The buoy component is applied to trajectory monitoring and navigation route planning. Before the ship sails, the obstacles faced by the ship during navigation or the ocean conditions during the ship's navigation can be monitored in advance according to the set buoy component, and the navigation route of the ship can be planned in advance. When the navigation route needs to be changed, the original coordinate position of the buoy component can be used as the center of the circle and a certain distance can be used as the radius to drive the collection buoy to rotate around the ocean to detect the sea conditions or obstacle information on the ocean surface. After comparison, the best navigation position is selected, and the buoy component is changed from the original coordinates to the existing best navigation position coordinates, thereby re-planning the navigation route of the ship, and the navigation route of the ship can be planned quickly, accurately and more safely.

The invention discloses an internal marginal region identification method and device, electronic equipment and a storage medium, and belongs to the technical field of geographic information processing, and the method comprises the steps: determining three theoretical models of an internal marginal region, and converting the three theoretical models into four-dimensional feature indexes of the internal marginal region; acquiring data information of a target area, integrating multi-source data reflecting the real development level of a city, and preprocessing the multi-source data; performing general processing on the preprocessed multi-source data, and performing internal marginal region identification by adopting a four-dimensional internal marginal region identification method to obtain a preliminary internal marginal region; and comprehensively identifying the internal marginal region of the target region based on the preliminary internal marginal region by combining a four-dimensional internal marginal region identification method and a spatial overlay analysis method. According to the method, the internal marginal region is identified based on the multi-source data, and the problem that the result is unstable due to different data collection standards and true or abnormal panel data in the previous research is solved.

The invention discloses a full-automatic detection instrument for detecting the concentration of glucose in fermentation broth, and relates to the field of glucose concentration detection.The full-automatic detection instrument comprises a fermentation tank set, a filtering sampler is arranged on one side of the fermentation tank set, a feeding pump is arranged on one side of the filtering sampler, a sample pool is arranged on one side of the feeding pump, and a mechanical arm sampler is arranged on one side of the sample pool; a standard sample pool and a micro-injection pump are respectively arranged on two sides of the mechanical arm sampler; a glucose electrochemical detection pool is arranged on one side of the micro-injection pump, a cleaning pool is connected to one side of the glucose electrochemical detection pool through a cleaning pump, a collection pool is connected to the bottom end of the glucose electrochemical detection pool through a waste liquid pump, and a concentration detection circuit is arranged in the glucose electrochemical detection pool; and one end of the glucose electrochemical detection pool is connected with a master controller. The full-automatic on-line detection instrument provided by the invention solves the problems of high glucose content and concentration in fermentation liquor, high difficulty in on-line real-time detection in the fermentation process, need of manual guarding and the like.

The invention discloses a parcel order processing method, apparatus and device, and a storage medium. The method comprises the steps of obtaining a target delivery address of a target parcel; identifying target zoning information of the target parcel based on the target delivery address; obtaining a historical zoning database; the target delivery address is analyzed based on a historical zoning database to determine effective zoning information of the target package, and the effective zoning information comprises an effective zoning name and an effective area code corresponding to the effective zoning name; obtaining a parcel interception condition database; obtaining a target processing mode of the target package based on a matching result of the effective zoning information of the target package in a database including interception conditions; and processing the target package based on the target processing mode. According to the method, the delivery address identification accuracy can be improved, so that the parcel processing mode can be determined more accurately, and the processing efficiency and the processing effect are improved.

A new energy automobile remaining mileage prediction method based on a neural network relates to the field of new energy automobiles, designs a bidirectional recurrent neural network BRNN, and can extract features from multiple time dimensions and capture dynamic change characteristics of time series data, so that a prediction model can more accurately reflect energy consumption changes in an actual driving process, and the prediction accuracy is improved. And the residual mileage prediction precision is improved. A multi-reservoir echo state network DAMESN model based on a zoom dot product attention mechanism is adopted to predict the remaining driving mileage, and a complex nonlinear relation is efficiently captured in combination with a depth feature vector and the zoom dot product attention mechanism, so that the generalization ability and the prediction precision of the model are enhanced, and meanwhile, the driving experience is optimized; a driver is helped to more accurately plan the journey, and the risk of electric quantity exhaustion is reduced.

This invention provides a method for creating a point-beam data transmission mission for a shipborne mobile receiving station to remote sensing satellites. The method includes: using the acquired approximate position and orbital element information of the shipborne receiving station, calculating a set of all approximate visible time windows for the entire day; then using this set to determine the approximate time window for the target data transmission mission; based on the approximate time window, sequentially calculating the ship's geocentric latitude, ship's travel distance, and spherical arc length; determining, based on the spherical arc length, whether the ship's course change exceeds a preset threshold; if so, performing segmented ship position prediction; otherwise, performing direct ship position prediction to obtain a precise predicted ship position; expanding the approximate time window based on the precise predicted ship position to obtain a precise time window; and then using the precise time window and the precise predicted ship position to construct the point-beam data transmission mission. This invention achieves precise planning of the satellite data transmission mission and ensures that the shipborne station antenna points towards the satellite to form a two-way closed link.

The application relates to a hypersonic vehicle trajectory planning method based on an N-K iterative convex optimization algorithm, and relates to the field of trajectory planning.The application is used to solve the problem that the existing vehicle trajectory planning method cannot accurately plan a vehicle trajectory.The application comprises the following steps: obtaining a dimensionless hypersonic gliding stage dynamics model;obtaining a linearized hypersonic gliding stage dynamics model;discretizing parameters in the linearized hypersonic gliding stage dynamics model to obtain a parameter-discretized hypersonic gliding stage dynamics model;obtaining control quantity constraints, process constraints and a trust region constraint in hypersonic vehicle trajectory optimization;constructing a trajectory planning problem based on iterative convex optimization by using the parameter-discretized hypersonic gliding stage dynamics model and the control quantity constraints, the process constraints and the trust region constraint;and solving the trajectory planning problem based on iterative convex optimization to obtain a hypersonic vehicle trajectory planning result.The application is used for planning a vehicle trajectory.

The invention provides a data processing method and device of a robot, electronic equipment and a storage medium. The method comprises the steps that obstacle data of the environment where the robot is located are stored, wherein the obstacle data comprise actual obstacle data and preset obstacle data; marking the type of the actual obstacle data as first readable data, wherein the actual obstacle data comprises position information of an actual obstacle; according to the current position of the robot and preset obstacle data, a first spacing distance between the robot and a preset obstacle is determined, and the preset obstacle data comprises position information of the preset obstacle; the preset obstacle data with the first interval distance smaller than the first preset distance are marked as second readable data, the first readable data and the second readable data are used for determining the moving track of the robot, and the moving track does not intersect with the position of the obstacle. According to the invention, the data processing efficiency of the robot can be improved.

The invention relates to a probe motion control method and device, a medical scanning system and a storage medium, and the method comprises the steps: planning the distribution position of each path point in an initial motion path of a probe according to the posture information of a detection object and a preset scanning range; based on a preset scanning parameter, determining a path optimization target corresponding to the scanning parameter; according to the path optimization target, adjusting path parameters of path points in the initial motion path, so that a target motion path corresponding to the adjusted path parameters meets the path optimization target; according to the target motion path, in the scanning process of the single photon emission computed tomography system, the probe is controlled to move relative to the detection object so as to obtain detection data. According to the method, the attitude information of the detected object and the scanning requirement can be combined to realize accurate motion path planning and adjustment meeting the requirement, so that the application difficulty of motion planning is reduced.