CN111854782A - Path planning method capable of realizing automatic unhooking and unhooking - Google Patents
Path planning method capable of realizing automatic unhooking and unhooking Download PDFInfo
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- CN111854782A CN111854782A CN202010570289.6A CN202010570289A CN111854782A CN 111854782 A CN111854782 A CN 111854782A CN 202010570289 A CN202010570289 A CN 202010570289A CN 111854782 A CN111854782 A CN 111854782A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The invention discloses a method for planning a path capable of realizing automatic unhooking and unhooking, which comprises the following steps: acquiring an operation flow of a target vehicle; acquiring an operation map of the target vehicle; planning a path according to the operation map to obtain a driving path of the target vehicle; and the target vehicle automatically unhooks the target vehicle and the pallet truck based on the operation process and the running path. By the technical scheme, the cost can be reduced, and the maintenance of equipment can be reduced.
Description
Technical Field
The invention relates to the technical field of motion planning, in particular to a path planning method capable of realizing automatic unhooking and unhooking.
Background
At present, indoor outer vehicle is automatic takes off the trailer, mainly realizes the position perception through installing infrared or laser radar sensor on the pallet truck, takes off the trailer automatically and carries out route planning according to the position again, realizes automatic carry. The technical problem is that the pallet truck has no power, the additionally installed sensor needs to be provided with standby power on the pallet truck, otherwise, the power supply of the sensor cannot be solved, the automatic mounting cost is high, the installation and maintenance of equipment facilities are complex, the actual application is very few, and no economic benefit is generated by contrast when the mode is used;
Therefore, how to reduce the cost, reduce the maintenance of the equipment, and realize the path planning and automatic off-hook is an urgent problem to be solved.
Disclosure of Invention
The invention provides a method for planning a path capable of realizing automatic unhooking and unhooking, which adopts the following technical scheme:
according to an embodiment of the present invention, a method for planning a path capable of automatic unhooking and unhooking is provided, including:
acquiring an operation flow of a target vehicle;
acquiring an operation map of the target vehicle;
planning a path according to the operation map to obtain a driving path of the target vehicle;
and the target vehicle automatically unhooks the target vehicle and the pallet truck based on the operation process and the running path.
In one embodiment, the workflow includes any one or more of starting a trip, terminating a trip, adjusting the automatic unhook position, starting an unhook, and starting a mount.
In one embodiment, the obtaining the work map of the target vehicle includes:
acquiring real-time positions of the target vehicle and the pallet truck;
determining a preset range of the real-time position;
acquiring the running condition of each vehicle in the preset range in real time, wherein each vehicle does not comprise the target vehicle and the pallet truck;
Acquiring the conditions of the target object and road conditions of each road in the preset range in real time;
and generating an operation map of the target vehicle according to the real-time position, the driving condition of each vehicle, the condition of the target object and the road condition of each road.
In one embodiment, the planning a path according to the operation map to obtain a driving path of the target vehicle includes:
acquiring a plurality of paths on the operation map, wherein starting points of the paths are positions of the target vehicle, and end points of the paths are positions of the pallet truck;
determining a preset speed;
sequentially and uniformly moving preset mobile equipment from the starting point to the end point of the paths at the preset speed to obtain the moving time of the preset mobile equipment on the paths respectively;
and determining the path with the shortest preset moving time of the mobile equipment in the plurality of paths as the running path of the target vehicle.
In one embodiment, the target vehicle automatically unhook from a pallet truck based on the work flow and the travel path includes:
the target vehicle runs on the running path according to the operation flow;
Judging whether the target vehicle runs to a preset position on the running path or not,
when the target vehicle does not travel to the preset position on the travel path, the target vehicle continues to travel,
and when the target vehicle runs to a preset position on the running path, the target vehicle automatically unhooks the target vehicle and takes off the pallet truck according to the operation flow.
In one embodiment, before the determining whether the target vehicle travels to the preset position on the travel path is performed, the method further includes:
judging whether the target vehicle normally runs on the running path or not;
when the target vehicle does not normally run on the running path, the target vehicle gives an alarm and acquires correct running information so as to recover normal running on the running path according to the correct running information.
In one embodiment, the target vehicle automatically unhook from the pallet truck according to the work flow, comprising:
and when the position where the automatic unhooking hook is located can support unhooking, the target vehicle carries out automatic unhooking of the automatic unhooking hook and the pallet truck according to the operation flow.
In one embodiment, the automatic unhooking hook comprises: supporting shoe, telescoping device, connecting rod, couple, wherein:
the supporting block is respectively connected with the target vehicle and the telescopic device and fixedly connected with the target vehicle to support the telescopic device;
the telescopic device is respectively connected with the supporting block and the connecting rod and is used for stretching;
the connecting rod is respectively connected with the telescopic device and the hook, and the connecting rod is used for vertically displacing along with the telescopic device;
the couple with the connecting rod is connected, the couple is used for following the vertical displacement of connecting rod is right the pallet truck takes off and hangs.
In one embodiment, the telescopic device is an electric telescopic rod or a pneumatic telescopic rod.
In one embodiment, before executing the workflow of acquiring the target vehicle, the method further includes:
and carrying out safety inspection on the target vehicle, wherein the safety inspection comprises any one or more of appearance inspection, braking system inspection, steering system inspection, lighting system inspection and tire inspection.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
acquiring an operation process of a target vehicle and acquiring an operation map of the target vehicle; then, planning a path according to the operation map to obtain a driving path of the target vehicle; and finally, the target vehicle automatically unhooks the target vehicle and the pallet truck based on the operation flow and the running path. According to the technical scheme, path planning and automatic unhooking of the unhooking hook and the pallet truck can be achieved without installing various sensors, and due to the fact that the sensors are not needed to be installed, standby power does not need to be installed on the pallet truck, cost is greatly reduced, maintenance is not needed, and manpower and material resources generated by equipment maintenance are reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method for implementing a path planning for automatic unhook and unhook operation according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating another method for implementing automatic unhook and unhook routing in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart of a method for path planning to achieve automatic unhook and unhook according to another embodiment of the present invention;
FIG. 4 is a diagram illustrating an exemplary embodiment of an automatic unhooking mechanism;
FIG. 5 is an illustration of an embodiment of the present invention;
FIG. 6 is a diagram illustrating an effect of an embodiment of the present invention;
FIG. 7 is a diagram illustrating another effect of an embodiment of the present invention;
FIG. 8 is a diagram illustrating an embodiment of the present invention;
FIG. 9 is a screenshot of a computing method in an example of the invention;
FIG. 10 is a screenshot of a calculation formula in an example of the present invention.
In fig. 4, the reference numerals are explained as follows:
1-supporting block, 2-telescopic device, 3-connecting rod and 4-hook.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Fig. 1 is a flowchart of a method for planning a path to achieve automatic unhook and unhook operation according to an embodiment of the present invention, as shown in fig. 1, the method can be implemented as the following steps S11-S14:
in step S11, a work flow of the target vehicle is acquired;
in step S12, a work map of the target vehicle is acquired;
the method comprises the steps of obtaining an operation map of a target vehicle, shooting the operation map by an unmanned aerial vehicle, enabling the target vehicle to be an automatic driving vehicle without manual driving, enabling the operation environment of the target vehicle to be outdoor or indoor, obtaining the operation map by the unmanned aerial vehicle under the two conditions, collecting the operation environment of the target vehicle by cameras at various angles indoors, analyzing and screening the collected operation environment, and then generating the operation map.
In step S13, performing path planning according to the work map to obtain a traveling path of the target vehicle;
the path planning can be carried out by adopting a self-adaptive path planning algorithm to plan different paths in the operation map to obtain an optimal path, namely the driving path of the target vehicle, and the different paths firstly meet the requirement that the target vehicle can drive to the position of the pallet truck on the path.
In step S14, the target vehicle automatically disconnects the hook from the pallet truck based on the work flow and the travel route.
The target vehicle starts to travel on the travel path according to one partial flow (for example, start of travel) in the work flow, travels to a position near the pallet truck where the target vehicle can be disengaged from the pallet truck but does not collide with the pallet truck, and then can be mounted according to another partial flow (for example, start of mounting) in the work flow.
Acquiring an operation process of a target vehicle and acquiring an operation map of the target vehicle; then, planning a path according to the operation map to obtain a driving path of the target vehicle; and finally, the target vehicle automatically unhooks the target vehicle and the pallet truck based on the operation flow and the running path. According to the technical scheme, path planning and automatic unhooking of the unhooking hook and the pallet truck can be achieved without installing various sensors, and due to the fact that the sensors are not needed to be installed, standby power does not need to be installed on the pallet truck, cost is greatly reduced, maintenance is not needed, and manpower and material resources generated by equipment maintenance are reduced.
In one embodiment, the workflow includes any one or more of starting a trip, terminating a trip, adjusting the automatic unhook position, starting an unhook, and starting a mount.
The normal work of the target vehicle can be ensured by setting different operation flows, such as starting to run, stopping running, adjusting the automatic unhooking position, starting to unhook, starting to mount and the like.
As shown in fig. 2, in one embodiment, the above step S12 can be implemented as the following steps S121-S125:
in step S121, acquiring real-time positions of the target vehicle and the pallet truck;
the indoor or outdoor position of the target vehicle or pallet truck may vary, and therefore, when determining the work map of the target vehicle, the real-time position of the target vehicle must be based on, or errors may be caused in the work map.
In step S122, determining a preset range of the real-time position;
the preset range of the real-time position may be a circle having a diameter corresponding to a line connecting the target vehicle and the pallet truck, and this range may cover the entire area between the target vehicle and the pallet truck and the vicinity thereof.
In step S123, a driving condition of each vehicle in a preset range is obtained in real time, where each vehicle does not include a target vehicle and a pallet truck;
The running condition of each vehicle may include a normal running condition and an abnormal running condition.
In step S124, the target object condition and road conditions of each road within a preset range are obtained in real time;
the target object condition can be the condition of trees, obstacles, traffic lights and the like, and the condition of each road comprises the driving condition, the traffic jam condition, the traffic accident condition and the like of each road.
In step S125, a work map of the target vehicle is generated based on the real-time position, the traveling condition of each vehicle, the condition of the target object, and the road condition of each road.
In the embodiment, the real-time positions of the target vehicle and the pallet truck are obtained; determining a preset range of a real-time position; further, the running condition of each vehicle in a preset range is obtained in real time; then, acquiring the conditions of the target object and the road conditions of each road in the preset range in real time; and finally, generating an operation map of the target vehicle according to the real-time position, the driving condition of each vehicle, the condition of the target object and the road condition of each road. The operation map generated according to the real-time position, the driving condition of each vehicle, the condition of the target object and the road condition of each road can clearly and visually reflect various conditions around the target vehicle and the pallet truck, and the condition of each path on the operation map can also be clearly reflected.
As shown in fig. 3, in one embodiment, the above step S13 can be implemented as the following steps S131-S134:
in step S131, a plurality of paths on the operation map are obtained, where starting points of the plurality of paths are positions of the target vehicle, and ending points of the plurality of paths are positions of the pallet truck;
in step S132, a preset speed is determined; the preset speed may be 20km/h.
In step S133, the preset mobile device is sequentially moved from the starting point to the end point of the plurality of paths at the preset speed, so as to obtain the moving time of the preset mobile device on the plurality of paths respectively;
the preset mobile device may be an electric vehicle or another unmanned vehicle, and the moving time (driving time) on each path can be obtained by driving on a plurality of paths at the same preset speed.
In step S134, the route with the shortest preset moving time of the mobile device in the several routes is determined as the driving route of the target vehicle.
In the embodiment, a plurality of paths on the operation map are obtained; determining a preset speed; then, the preset mobile equipment is sequentially moved from the starting point to the end point of the paths at a preset speed, so that the moving time of the preset mobile equipment on the paths can be obtained; and then, determining the path with the shortest preset moving time of the mobile equipment in the plurality of paths as the running path of the target vehicle. An optimal path can be determined according to the preset moving time of the mobile device on each path, and the optimal path is taken as a running path of the target vehicle, so that the target vehicle can reach a position near the pallet truck at the fastest speed and can be off-hook.
In one embodiment, the target vehicle automatically unhook from a pallet truck based on the work flow and the travel path includes:
the target vehicle runs on the running path according to the operation flow;
judging whether the target vehicle runs to a preset position on the running path or not,
when the target vehicle does not travel to the preset position on the travel path, the target vehicle continues to travel,
and when the target vehicle runs to a preset position on the running path, the target vehicle automatically unhooks the target vehicle and takes off the pallet truck according to the operation flow.
In the present embodiment, the target vehicle travels on the travel path according to the work flow; and then, judging whether the target vehicle runs to a preset position on a running path or not, when the target vehicle does not run to the preset position on the running path, continuing running of the target vehicle, and when the target vehicle runs to the preset position on the running path, automatically disconnecting the hook from the pallet truck by the target vehicle according to an operation flow. The target vehicle is separated from the pallet truck when the target vehicle runs to the preset position, so that the automatic separation from the pallet truck can be guaranteed.
In one embodiment, before the determining whether the target vehicle travels to the preset position on the travel path is performed, the method further includes:
judging whether the target vehicle normally runs on the running path or not;
when the target vehicle does not normally run on the running path, the target vehicle gives an alarm and acquires correct running information so as to recover normal running on the running path according to the correct running information. The correct driving information comprises a pointing instruction and a correct route, and the correct driving information helps the target vehicle to recover normal running, so that the normal running of the automatic unhooking is ensured.
In the embodiment, whether the target vehicle normally runs on the running path is judged; when the target vehicle does not normally run on the running path, the target vehicle gives an alarm and acquires correct running information so as to recover the normal running on the running path according to the correct running information, and by giving the alarm, people around can know that the target vehicle is abnormally running, people pay attention to safety in advance, and the normal driving is recovered according to the normal running information, so that the target vehicle can be ensured to correctly reach the position where the pallet truck can be disengaged.
In one embodiment, the target vehicle automatically unhook from the pallet truck according to the work flow, comprising:
and when the position where the automatic unhooking hook is located can support unhooking, the target vehicle carries out automatic unhooking of the automatic unhooking hook and the pallet truck according to the operation flow.
When the position of the automatic unhooking hook does not support unhooking, the position of the automatic unhooking hook is dynamically adjusted, and after the position is adjusted, the target vehicle is unhooked from the automatic unhooking hook on the target vehicle and the pallet truck according to the operation flow.
In this embodiment, when the position where the automatic unhooking hook is located can support unhooking, the target vehicle is then subjected to automatic unhooking of the automatic unhooking hook from the pallet truck according to the operation flow, so that useless work can be prevented, and normal unhooking of the automatic unhooking hook from the pallet truck is guaranteed.
As shown in fig. 4, in one embodiment, the automatic unhooking hook comprises: supporting shoe 1, telescoping device 2, connecting rod 3, couple 4, wherein:
the supporting block 1 is respectively connected with the target vehicle and the telescopic device 2, and the supporting block 1 is fixedly connected with the target vehicle to support the telescopic device 2;
The telescopic device 2 is respectively connected with the supporting block 1 and the connecting rod 3, and the telescopic device 2 is used for stretching;
the telescopic device can also be provided with a controller, and the controller can acquire a telescopic instruction and then stretch.
The connecting rod 3 is respectively connected with the telescopic device 2 and the hook 4, and the connecting rod 3 is used for vertically displacing along with the telescopic device 2;
In this embodiment, supporting shoe fixed connection is on the target vehicle to the telescoping device is being supported to the supporting shoe, when needs take off the couple automatically, the telescoping device will stretch out and draw back, can drive the connecting rod in the displacement of vertical direction when flexible, also reciprocate exactly, and just can drive the couple when the connecting rod reciprocates and take off a pallet truck, does not need the manual automation to take off and hang, the cost of using manpower sparingly.
In one embodiment, the telescopic device is an electric telescopic rod or a pneumatic telescopic rod.
In this embodiment, through the telescopic device that uses electric telescopic handle or pneumatic telescopic rod class, do not need the people to stretch out and draw back, do not just need the people to carry out the automation and take off the couple and take off the taking off of trailer promptly.
In one embodiment, before executing the workflow of acquiring the target vehicle, the method further includes:
and carrying out safety inspection on the target vehicle, wherein the safety inspection comprises any one or more of appearance inspection, braking system inspection, steering system inspection, lighting system inspection and tire inspection.
In the embodiment, safety inspection is performed on the target vehicle in advance, potential safety hazards in the target vehicle are removed, and normal operation of the target vehicle can be guaranteed.
For example, as shown in fig. 5, the target vehicle is on the left and the pallet truck is on the right, and the target vehicle needs to travel to a position where the target vehicle can be disengaged from the pallet truck on the travel path and then be disengaged.
In one embodiment, as shown in fig. 6, includes:
in fig. 6, in an ideal state, after the vehicle runs in a half circle, the vehicle automatically moves backwards and carries 4 trays TCar to move, the red vehicle on the right upper corner in the way is a stationary tray with negative direction of x axis PCar, the black four trays on the left lower corner in the way are connected together, the position is known, the course is known as positive direction of x axis, and when the distance between the T vehicle and the P vehicle in the Y direction is larger than the minimum turning radius (known) which can be executed by the vehicle, the vehicle can directly run according to the semicircle with the radius R, i.e. R is equal to TP longitudinal distance/2 as the turning radius controlled by the vehicle. After reaching the position of fig. 6, reversing opposite position 4, and fig. 7 is a solid effect diagram;
The calculation principle and process are shown in fig. 8, 9 and 10, when the tray and the x axis form an included angle, as shown in the figure, the alignment target point D is extended by 3 meters according to the course of the alignment target point D to obtain C ', the point is used as a forward driving arrival point of the vehicle, and then C' D is a 3m reversing path;
a midline intersection point O of O ' C ' and & lt SO ' D, a circular curve taking OC ' as a radius is intersected with O ' O at C ', and a C ' vertical line is intersected with O ' S at S ';
∠S’O”
C”O”＝C”S’xCos(∠S’O”O)；
if C 'O < ═ Rmin (the controllable minimum turning radius of the automatic driving vehicle), taking C' O 'as the turning radius of the vehicle, taking S' as the starting point of the arc motion of the vehicle, driving to C ', taking C' O as the radius circle of the rear arc, controlling the vehicle to be in seamless connection until the C 'point starts backing up, hanging a tray, and if C' O < > Rmin, using a cubic B spline curve to automatically generate a curve segment S 'C' according to the starting point S to the terminal point C;
segment B2P (1) P (1/2) P (0) B0 is taken as SC ", the starting point S corresponds to B2, and the end point C" corresponds to B0;
according to the calculation method, the error allowable range of the actual hook is-15 cm, the error refers to the precision of the coordinate of the unhooking node, and the accurate alignment and hooking operation can still be performed under the condition that the allowable error is enlarged to-20 cm- +20cm in the current planning.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for realizing path planning of automatic unhooking and unhooking is characterized by comprising the following steps:
acquiring an operation flow of a target vehicle;
acquiring an operation map of the target vehicle;
planning a path according to the operation map to obtain a driving path of the target vehicle;
and the target vehicle automatically unhooks the target vehicle and the pallet truck based on the operation process and the running path.
2. The method of claim 1, wherein the workflow comprises any one or more of starting a trip, terminating a trip, adjusting the automatic unhook location, starting an unhook, and starting a mount.
3. The method of claim 1, wherein the obtaining the work map of the target vehicle comprises:
acquiring real-time positions of the target vehicle and the pallet truck;
determining a preset range of the real-time position;
acquiring the running condition of each vehicle in the preset range in real time, wherein each vehicle does not comprise the target vehicle and the pallet truck;
acquiring the conditions of the target object and road conditions of each road in the preset range in real time;
And generating an operation map of the target vehicle according to the real-time position, the driving condition of each vehicle, the condition of the target object and the road condition of each road.
4. The method of claim 1, wherein the performing path planning according to the work map to obtain the driving path of the target vehicle comprises:
acquiring a plurality of paths on the operation map, wherein starting points of the paths are positions of the target vehicle, and end points of the paths are positions of the pallet truck;
determining a preset speed;
sequentially and uniformly moving preset mobile equipment from the starting point to the end point of the paths at the preset speed to obtain the moving time of the preset mobile equipment on the paths respectively;
and determining the path with the shortest preset moving time of the mobile equipment in the plurality of paths as the running path of the target vehicle.
5. The method of claim 1, wherein the target vehicle automatically unhooking from a pallet truck on the target vehicle based on the workflow and the travel path comprises:
the target vehicle runs on the running path according to the operation flow;
Judging whether the target vehicle runs to a preset position on the running path or not,
when the target vehicle does not travel to the preset position on the travel path, the target vehicle continues to travel,
and when the target vehicle runs to a preset position on the running path, the target vehicle automatically unhooks the target vehicle and takes off the pallet truck according to the operation flow.
6. The method of claim 5, wherein prior to performing the determining whether the target vehicle is traveling to a preset location on the travel path, further comprising:
judging whether the target vehicle normally runs on the running path or not;
when the target vehicle does not normally run on the running path, the target vehicle gives an alarm and acquires correct running information so as to recover normal running on the running path according to the correct running information.
7. The method of claim 5, wherein the target vehicle automatically unhooking from the pallet truck according to the workflow comprises:
and when the position where the automatic unhooking hook is located can support unhooking, the target vehicle carries out automatic unhooking of the automatic unhooking hook and the pallet truck according to the operation flow.
8. The method of claim 1, wherein said automatically unhooking comprises: supporting shoe, telescoping device, connecting rod, couple, wherein:
the supporting block is respectively connected with the target vehicle and the telescopic device and fixedly connected with the target vehicle to support the telescopic device;
the telescopic device is respectively connected with the supporting block and the connecting rod and is used for stretching;
the connecting rod is respectively connected with the telescopic device and the hook, and the connecting rod is used for vertically displacing along with the telescopic device;
the couple with the connecting rod is connected, the couple is used for following the vertical displacement of connecting rod is right the pallet truck takes off and hangs.
9. The method of claim 8, wherein the retractable device is an electrically or pneumatically powered retractable rod.
10. The method of claim 1, prior to performing the workflow of acquiring the target vehicle, further comprising:
and carrying out safety inspection on the target vehicle, wherein the safety inspection comprises any one or more of appearance inspection, braking system inspection, steering system inspection, lighting system inspection and tire inspection.
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