Unhooking method of unhooking robot

The invention provides an unhooking method of an unhooking robot, which belongs to the technical field of train unhooking, and comprises the following steps: acquiring the position and speed of a carriage, judging whether the carriage enters a robot grabbing window period or not, judging whether the carriage does not enter the robot grabbing window period, judging whether the robot enters the grabbing window period, starting a camera, and acquiring an RGB image and a depth image; registering the depth map to the color map, and calculating point cloud coordinate data of the coupler; the robot receives a robot grabbing path and executes grabbing action, carriage unhooking and robot grabbing action completion according to the sequence of points forming the robot grabbing path, RGB images and depth images are collected, a perspective projection model is adopted, a Zhang Zhengyou calibration method is adopted to collect multiple groups of chessboard group grids, and the defects that the unhooking site environment