An ultrasound scanning control method applied to an ultrasound scanning device which comprising an execution mechanism, the execution mechanism comprising a mechanical arm, a probe, and a force sensor, the ultrasound scanning control method comprising: determining a part to be examined, and converting initial position coordinates of the part to be examined in a first coordinate system where a hospital bed is located into initial position coordinates of the part to be examined in a second coordinate system where the ultrasound scanning device is located; generating a set scanning trajectory based on the initial position coordinates of the part to be examined in the second coordinate system, wherein the set scanning trajectory comprises a plurality of position coordinates; controlling the mechanical arm to drive the probe to move based on the set scanning trajectory; controlling the probe to collect an ultrasound image; identifying a target area from the ultrasound image; calculating a position of the target area in the ultrasound image, and determining whether the position of the target area in the ultrasound image belongs to a predetermined position; adjusting the set scanning trajectory when the position of the target area in the ultrasound image does not belong to the predetermined position; and controlling the mechanical arm to drive the probe to move based on the adjusted scanning trajectory; characterized in that the method further comprises: sensing a lateral impact force F received by the probe using the force sensor; calculating a position change amount S according to the lateral impact force F received by the probe, wherein the position change amount S=F*K, F represents a magnitude of the lateral impact force, and K is a known coefficient; and controlling the mechanical arm to drive the probe to move a preset distance along a direction of the lateral impact force, according to a magnitude relationship between the calculated position change amount S and a preset maximum position change amount. determining a part to be examined, and converting initial position coordinates of the part to be examined in a first coordinate system where a hospital bed is located into initial position coordinates of the part to be examined in a second coordinate system where the ultrasound scanning device is located; generating a set scanning trajectory based on the initial position coordinates of the part to be examined in the second coordinate system, wherein the set scanning trajectory comprises a plurality of position coordinates; controlling the mechanical arm to drive the probe to move based on the set scanning trajectory; controlling the probe to collect an ultrasound image; identifying a target area from the ultrasound image; calculating a position of the target area in the ultrasound image, and determining whether the position of the target area in the ultrasound image belongs to a predetermined position; adjusting the set scanning trajectory when the position of the target area in the ultrasound image does not belong to the predetermined position; and controlling the mechanical arm to drive the probe to move based on the adjusted scanning trajectory; characterized in that the method further comprises: sensing a lateral impact force F received by the probe using the force sensor; calculating a position change amount S according to the lateral impact force F received by the probe, wherein the position change amount S=F*K, F represents a magnitude of the lateral impact force, and K is a known coefficient; and controlling the mechanical arm to drive the probe to move a preset distance along a direction of the lateral impact force, according to a magnitude relationship between the calculated position change amount S and a preset maximum position change amount. sensing a lateral impact force F received by the probe using the force sensor; calculating a position change amount S according to the lateral impact force F received by the probe, wherein the position change amount S=F*K, F represents a magnitude of the lateral impact force, and K is a known coefficient; and controlling the mechanical arm to drive the probe to move a preset distance along a direction of the lateral impact force, according to a magnitude relationship between the calculated position change amount S and a preset maximum position change amount.