obtaining scan data collected by a vehicle body collection component of an automated guided vehicle (AGV) in an area around a vehicle body, wherein the AGV is one of a plurality of AGVs, the AGV of the plurality of AGVs travels in any one channel to be monitored of a plurality of channels to be monitored, the plurality of channels to be monitored are a plurality of channels required to transport a yarn spindle in a yarn spindle production workshop, and the area around the vehicle body includes at least a partial area of the channel to be monitored in which the AGV is traveling;

obtaining video data collected by a camera in a video collection area, wherein the camera is one of a plurality of cameras and is used to collect video of at least a partial area of the channel to be monitored of the plurality of channels to be monitored, and the video collection area includes at least a partial area of the channel to be monitored which is collected by the camera;

in a case of determining an existence of a target object based on the scan data collected by the vehicle body collection component and/or the video data collected by the camera, obtaining a target channel where the target object is located, wherein the target channel is one of the plurality of channels to be monitored;

generating target warning information for the target channel where the target object is located; and

inputting a scan image included in the scan data collected by the vehicle body collection component into a first detection model to obtain a first detection result, wherein the first detection model is used to identify whether there is at least a part of partial features of the target object in the scan image, and the first detection result represents whether the target object exists in the scan image included in the scan data.