An automatic grooving system and method for a tunnel drainage trough

Abstract

The present invention discloses an automatic grooving system for a tunnel drainage trough, which includes a generator, a railway flatbed truck, an industrial robot, a grooving device, a robot fixing device, a scanning device, a positioning device and a control subsystem. The entire system is arranged on the railway flatbed truck for convenient mobile operation. The positioning device marks the operation range of the industrial robot. The railway flatbed truck is towed by a tractor to make the operation surface to be grooved within the operation range of the industrial robot. The control subsystem automatically generates a grooving trajectory according to the data of the operation surface to be grooved scanned by the scanning device, and the control subsystem controls the industrial robot to move along the grooving trajectory according to the grooving trajectory, and drives the grooving device to move. The grooving device performs grooving according to the grooving trajectory. The present invention can complete the grooving operation quickly and efficiently, and the grooving operation reduces the manual labor intensity and also ensures the safety of the operators.

Description

Technical Field

[0001] The invention relates to the technical field of slotting systems, and in particular to an automatic slotting system and method for tunnel drainage grooves. Background Art

[0002] my country's railway construction is developing rapidly. With the increasing number of railway construction projects, it is particularly important to effectively improve the quality of railway projects. Due to the complex topography and landforms in various parts of my country, the difficulty of railway construction is relatively large. At the same time, affected by many factors such as complex geological conditions, railway tunnel seepage is the most common railway disease in mountainous railways. Tunnel water seepage will cause problems such as reduced lining support capacity and failure of communication and lighting equipment due to water corrosion, which will not only increase the cost of railway operation and maintenance, but also affect the safety of railway line transportation.

[0003] For the problem of water leakage inside the tunnel, a combination of blocking and drainage is currently usually used to deal with it. In addition to drilling holes for grouting and plugging, an inverted trapezoidal groove is opened in the seepage area, in which a PVC permeable blind pipe is buried and fixed, and the groove and the PVC pipe are filled and waterproofed. At present, in railway construction, most drainage grooves are opened by manual excavation. Due to the high dome of the tunnel, scaffolding is required for construction, and the railway is also responsible for daily transportation tasks, so the construction time is very limited. In addition, the manual grooving speed is slow, so the construction efficiency is very low and cannot meet the operation requirements. On the other hand, the grooving operation environment is harsh, dust pollution is serious, and the operation is highly dangerous, which poses a certain hazard to the personal health of the operators. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic grooving system for tunnel drainage trenches to address the problems of low efficiency and construction risks in the prior art. The system can control an industrial robot to automatically groove according to a grooving trajectory generated based on information on the working surface to be grooved obtained by scanning the system.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] An automatic slotting system for tunnel drainage grooves, comprising a railway flatbed car, a generator, a robot fixture, a slotting device, an industrial robot, and a control subsystem;

[0007] The generator, the control subsystem and the industrial robot are all arranged on the railway flatbed car, wherein the industrial robot is fixed on the railway flatbed car by the robot fixing device; the slotting device is installed on the end flange of the industrial robot by a flange plate; a slotting tool with a multi-piece structure is arranged at one end of the slotting device away from the industrial robot;

[0008] The first control signal output terminal of the control subsystem is connected to the control signal input terminal of the industrial robot to control the industrial robot to drive the grooving device to move; the second control signal output terminal of the control subsystem is connected to the control signal input terminal of the grooving device to control the grooving device to groove the grooving operation surface in the tunnel.

[0009] As a preferred solution of the present invention, the control subsystem includes a host computer control system, an electrical control system, and a robot control system. The host computer control system is respectively connected to the electrical control system and the robot control system. The control signal output terminal of the robot control system is the first control signal output terminal, and the control signal output terminal of the electrical control system is the second control signal output terminal.

[0010] As a preferred solution of the present invention, the automatic grooving system further includes a scanning device. The scanning device is detachably installed on the grooving device. The information output terminal of the scanning device is connected to the information input terminal of the electrical control system, and the scanning signal input terminal of the scanning device is connected to the scanning signal output terminal of the electrical control system. The scanning device scans the grooving operation surface information according to the scanning signal output by the electrical control system and transmits it back to the electrical control system. The electrical control system then transmits the operation surface information to the host computer control system. The host computer control system generates a grooving trajectory according to the operation surface information and transmits the grooving trajectory to the robot control system. The control signal output terminal of the robot control system outputs a first control signal to control the industrial robot to move according to the grooving trajectory. The host computer control system also transmits the grooving trajectory to the electrical control system. The control signal output terminal of the electrical control system outputs a second control signal to control the grooving device to groove according to the grooving trajectory.

[0011] As a preferred solution of the present invention, the grooving device further includes:

[0012] A motor, the drive signal input terminal of the motor is connected to the drive signal output terminal of the electrical control system, and the motor is connected to the grooving tool for driving the grooving tool;

[0013] A constant force floating control device, the signal input terminal of the constant force floating control device is connected to the signal output terminal of the electrical control system, and the constant force floating control device is connected to the grooving tool for keeping the grooving force of the grooving tool constant within a certain range during the grooving process.

[0014] As a preferred embodiment of the present invention, the automatic grooving system further includes an attitude sensor, which is arranged on the grooving device. The attitude signal output end of the attitude sensor is connected to the attitude signal input end of the electrical control system. The attitude sensor detects the motion attitude of the grooving device in real time and transmits the motion attitude to the electrical control system.

[0015] As a preferred embodiment of the present invention, the host computer control system includes a host computer and a human-machine interactive touch display screen;

[0016] The host computer is used to generate the grooving trajectory and the user control interface;

[0017] The human-machine interactive touch display screen is used to display the user control interface to realize human-machine interaction, including the start, stop, emergency stop, selection operation functions of the automatic grooving system and the setting of relevant parameters, as well as the pre-browsing of the grooving trajectory and the execution of the robot pre-travel trajectory operation.

[0018] As a preferred embodiment of the present invention, the robot fixing device includes a robot mounting bracket and a robot fixing bottom plate. The robot mounting bracket is fixedly connected to the railway flat car. The robot fixing bottom plate is arranged on the robot bracket. The industrial robot is horizontally fixed on the robot bracket through the robot fixing plate.

[0019] As a preferred embodiment of the present invention, the automatic grooving system further includes a positioning device, which is arranged on the robot bracket. The positioning signal input end of the positioning device is connected to the positioning signal output end of the electrical control system, and is used to mark the operation range of the industrial robot according to the positioning signal output by the electrical control system.

[0020] As a preferred embodiment of the present invention, the automatic grooving system further includes:

[0021] A cooling and dust removal device, which is arranged on the railway flat car. The cooling and dust removal signal input end of the cooling and dust removal device is connected to the cooling and dust removal signal output end of the electrical control system. The cooling and dust removal device is used to cool and remove dust from the grooving tool;

[0022] A protection device, which includes a waterproof and dustproof device for the industrial robot, a guardrail around the railway flat car, infrared sensors and alarm devices arranged around the guardrail. The alarm signal output ends of the infrared sensors and the alarm devices are both connected to the alarm signal input end of the electrical control system.

[0023] The present invention also discloses an automatic grooving method for a tunnel drainage groove, which adopts the above automatic grooving system and includes the following steps:

[0024] S1. Use a tractor to tow a railway flatcar into the tunnel. The electrical control system outputs a positioning signal to control the positioning device to mark the working range of the industrial robot. According to the working range marked by the marking line of the positioning device, drag the tractor to place the surface to be grooved within the working range of the industrial robot, and lock the railway flatcar.

[0025] S2. Arrange the protection device and keep the protection device in the working state, and emit a light warning signal.

[0026] S3. Set the grooving type through the host computer control system. The electrical control system outputs a scanning signal to control the scanning device to scan the surface to be grooved, obtain the curve data of the surface to be grooved and transmit it to the electrical control system. The electrical control system then transmits the curve data of the surface to be grooved to the host computer control system. The host computer control system generates a grooving curve model and further automatically generates a grooving trajectory.

[0027] S4. Use the host computer control system to preview the grooving trajectory, and use the user control interface of the host computer control system to control the industrial robot to perform a trajectory pre-cutting movement, and judge whether the operation trajectory conforms to the expected trajectory. If not, use the host computer control system to modify the grooving trajectory, or the electrical control system controls the scanning device to scan again, and the host computer control system regenerates the grooving trajectory until it conforms to the expected trajectory.

[0028] S5. After the grooving trajectory conforms to the expected trajectory, the host computer control system transmits the grooving trajectory to the robot control system. The control signal output end of the robot control system outputs a first control signal to control the industrial robot to move according to the grooving trajectory. The host computer control system also transmits the grooving trajectory to the electrical control system. The control signal output end of the electrical control system outputs a second control signal to control the grooving device to perform grooving according to the grooving trajectory until the grooving operation ends.

[0029] Among them, when the protection device detects that a person enters or an unexpected event occurs, an emergency stop operation is performed through the human-machine interaction touch display screen of the host computer control system.

[0030] When starting the grooving operation, the electrical control system outputs a dust removal signal to control the cooling and dust removal device to cool and remove dust for the grooving tool of the grooving device until the grooving operation ends.

[0031] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0032] 1. The automatic grooving system is installed on a railway flat car and can be moved according to the operation requirements. The grooving device is installed on the flange at the end of an industrial robot. The control subsystem drives the grooving tool to perform grooving operations by controlling the movement of the industrial robot. The multi-piece structure of the grooving tool in the grooving device allows for the selection and configuration of the diameter and number of blades in the grooving tool according to the width and depth of the groove, meeting various grooving requirements.

[0033] 2. The control subsystem controls the scanning device to collect image data of the surface to be grooved, and then processes it through the control subsystem to generate a grooving trajectory. If the grooving trajectory does not conform to the expected trajectory, it can be modified through the human-machine interface of the control subsystem, or the scanning device can re-scan the surface to be grooved to generate a grooving trajectory that conforms to the expected trajectory. The control subsystem then controls the grooving robot to perform grooving operations according to the grooving trajectory, ensuring the accuracy of the grooving operations.

[0034] 3. In the present invention, a constant force floating control device is provided inside the grooving device of the grooving robot. The control subsystem controls the action of the grooving tool of the grooving device, and combines with the attitude sensor installed on the grooving device to detect the movement attitude of the grooving device in real time, ensuring constant force operation when there are height differences within a certain range on the working surfaces at different positions, and effectively ensuring the consistency of grooving.

[0035] 4. In the present invention, a waterproof and dustproof device is installed on the industrial robot of the grooving robot to protect the industrial robot from being disturbed during grooving operations. Protective devices such as guardrails, infrared sensors, and alarm devices are installed around the railway flat car. When a person enters the operation area or an accident occurs, the infrared sensor and alarm device of the protective device will alarm, and an emergency stop operation can be performed through the control subsystem, ensuring the safety of the grooving operations.

[0036] 5. By using existing mature industrial robots, it can be adapted to industrial robots of different manufacturers. The operation process is simple, easy, convenient, and efficient, which can effectively reduce the labor intensity of workers, with prominent economic benefits and strong practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic structural diagram of the present invention.

[0038] Figure 2 is a structural block diagram of the present invention.

[0039] Figure 3 is a schematic diagram when the automatic grooving system performs grooving operations.

[0040] Figure 4 The flowchart of the automatic grooving method of the present invention.

[0041] Icons: 1 - railway flatcar; 2 - industrial robot; 3 - robot mounting bracket; 4 - robot fixing plate; 5 - grooving tool, 6 - grooving device; 7 - scanning device; 8 - operation room; 9 - generator; 10 - electrical control system; 11 - robot control system; 12 - host computer control system; 13 - positioning device; 14 - water storage tank. Detailed implementation

[0042] The present invention will be described in detail below with reference to the accompanying drawings.

[0043] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] Embodiment 1

[0045] Refer to Figure 1 and Figure 2 , an automatic grooving system for a tunnel drainage trough includes a railway flatcar 1, an industrial robot 2, a grooving device 6, a generator 9, a robot fixing device, a control subsystem, a scanning device 7 and a positioning device 13. The control subsystem includes a host computer control system, an electrical control system 10 and a robot control system 11. The generator 9, the industrial robot 2, the host computer control system 12, the robot control system 11, the electrical control system 10 and the positioning device 13 are all fixed on the railway flatcar 1.

[0046] The automatic grooving system further includes an attitude sensor, a temperature reduction and dust removal device and a protection device. The attitude sensor in this embodiment is arranged on the grooving device 6 and is connected to the electrical control system 10 for real-time detection of the motion attitude of the grooving device 6. The attitude sensor and the constant force floating device work together to ensure that the grooving force remains constant during the grooving operation. In this embodiment, the water spray method is used to cool and remove dust from the grooving tool 5. The temperature reduction and dust removal device includes a water storage tank 14, a submersible pump and a water pipe. The submersible pump is placed in the water storage tank, and the water pipe connects the submersible pump and the grooving tool 5.

[0047] The protection device includes the waterproof and dustproof device of the industrial robot, a protective fence, infrared sensors arranged around the protective fence, and corresponding alarm devices. The infrared sensors and the alarm devices are both connected to the electrical control system 10 and are used to monitor the surrounding environment during the grooving operation. When the system is in the grooving operation state, lights are used to give a warning. When the protection device detects that a person accidentally enters or other emergencies occur, an alarm signal is generated, and the upper computer control system 12 controls the automatic grooving system to enter an emergency stop state to avoid safety accidents.

[0048] The industrial robot 2 in this system can adopt six-degree-of-freedom industrial robots from different manufacturers. The robot control system 11 is a robot control cabinet, which is a device used in conjunction with the industrial robot 2 to control the movement of the industrial robot 2. The relevant parameters of the industrial robot 2 are reasonably selected according to the type of the working tunnel and the working distance for its arm length. Considering the particularity of the working environment, the industrial robot 2 needs to be protected all over. In this embodiment, the method of wearing acid and alkali resistant protective clothing outside the industrial robot 2 is adopted. The generator 9 is used to supply power to the automatic grooving system. The robot fixing device includes a machine mounting bracket 3 and a robot fixing plate 4. The robot mounting bracket 3 is tightly fixed on the railway flat car 1 by bolts. The robot fixing plate 4 is arranged above the robot mounting bracket 3, and the robot fixing plate 4 is tightly fixed on the robot mounting bracket 3 by screws. The industrial robot 2 is horizontally fixed and installed on the robot fixing plate 4 by fixing bolts.

[0049] The scanning device 7 is installed on the outer shell of the grooving device 6 through a detachable quick-change joint and can be removed after scanning. The scanning device 7 in this embodiment includes a servo motor and a laser sensor. The scanning device 7 is connected to the electrical control system 10 and is used to scan the working surface to be grooved.

[0050] The grooving device 6 is connected to the electrical control system 10 and is used to complete the grooving operation. The grooving device 6 is installed on the end flange of the industrial robot 2 through a flange plate. The grooving device 6 includes a grooving tool 5, a constant force floating control device, and a grooving motor. The signal input end of the constant force floating device is connected to the signal output end of the electrical control system 10. The constant force floating control device is connected to the grooving tool 5 and is used to keep the grooving force of the grooving tool 5 constant within a certain range during the grooving process.

[0051] The positioning device 13 is arranged on the robot mounting bracket 3 and is used to mark the working range of the industrial robot 2. Before starting the grooving task, the electrical control system 10 outputs a positioning signal to control the positioning device 13 to mark the working range of the industrial robot. The positioning device 13 in this embodiment uses laser positioning. Two positioning devices 13 are arranged on the robot mounting bracket 3, on the side facing the grooving working surface, with one on each side. This is to facilitate towing the railway flatcar 1 to the grooving position with a tractor, so that the grooving working surface is within the two laser marking lines.

[0052] The electrical control system 10 is respectively connected to the scanning device 7, the grooving device 6 and the upper computer control system 12 by signals. The electrical control system 10 is also connected to the robot control system 11 by signals through the upper computer control system 12. The electrical control system 10 is used to output a scanning signal to control the scanning device 7 to scan the grooving working surface. After the electrical control system 10 obtains the returned scanning information, it transmits the scanning information to the upper computer control system 12. The upper computer control system 12 is used to establish a relevant curve model of the grooving working surface according to the relevant data of the grooving working surface obtained by the scanning device 7, automatically generate a grooving trajectory, and transmit the grooving trajectory to the robot control system 11. The control signal output end of the robot control system 11 outputs a first control signal to control the industrial robot 2 to move according to the grooving trajectory. The upper computer control system 12 also transmits the grooving trajectory to the electrical control system 10. The control signal output end of the electrical control system 10 outputs a second control signal to control the grooving device 6 to perform grooving operations according to the grooving trajectory.

[0053] The electrical control system 10 includes a PLC controller and an inverter. The PLC controller is used to control the operation of the grooving device 6, the scanning device 7, the positioning device 13, the cooling and dust removal device and the protection device; the inverter is used to control the grooving motor.

[0054] The upper computer control system 12 includes an upper computer and a human-machine interaction touch display screen. The upper computer is used to generate a user control interface for the entire system and generate the grooving trajectory. The human-machine interaction touch display screen is used to realize human-machine interaction. In addition to basic operations such as start / stop and emergency stop, it also includes the selection of operation functions, the setting of relevant parameters such as grooving types, and can also preview the grooving curve in advance and execute the pre-travel trajectory operation of the industrial robot 2.

[0055] The host computer control system 12, the electrical control system 10, and the robot control system 11 for controlling the industrial robot 2 in this embodiment are all arranged in the operation room 8 to prevent concrete slag from splashing and falling, causing damage.

[0056] Referring to Figure 3 and Figure 4 , when using the automatic grooving system for automatic grooving, the following steps are included:

[0057] S1. Determine the operation range and lock the railway flatcar 1 on the grooving operation surface: The electrical control system 10 outputs the positioning signal to control the positioning device 13 to mark the corresponding operation range of the industrial robot 2. Use the tractor to tow the railway flatcar 1 to the grooving area, so that the grooving operation surface is within the operation range of the industrial robot 2, and lock the position of the railway flatcar.

[0058] S2. After determining the position of the protection device, arrange the protection device and turn on the infrared sensor and the alarm device of the protection device to emit a light warning signal.

[0059] S3. Set the grooving parameters, scan the operation surface, and generate a grooving trajectory: Use the human-machine interaction touch display screen to set the grooving parameters. Use the scan signal output by the electrical control system 10 to control the scanning device 7 to perform laser scanning on the grooving operation surface. After the electrical control system 10 obtains the curve data of the grooving operation surface, it transmits the curve data of the grooving operation surface to the host computer control system 12. The host computer control system 12 uses the curve data of the grooving operation surface to generate a grooving curve model and further generates a grooving trajectory.

[0060] S4. Judge whether the grooving trajectory conforms to the expected trajectory: After the electrical control system 10 receives the grooving trajectory, the grooving trajectory can be previewed through the human-machine interaction interface. Use the user control interface to control the industrial robot 2 to perform a trajectory pre-cutting movement to judge whether the grooving trajectory conforms to the expected trajectory. If not, the trajectory can be partially corrected through the human-machine interface of the host computer control system 12, or the scanning device 7 can be selected to restart the scan to generate a new grooving trajectory.

[0061] S5. Perform grooving operations according to the grooving trajectory: until the grooving trajectory generated by the host computer control system 12 conforms to the expected trajectory, the host computer control system 12 transmits the grooving trajectory to the robot control system 11, the robot control system 11 controls the industrial robot 2 to move according to the grooving trajectory, the host computer control system 12 also transmits the grooving trajectory to the electrical control system 10, and the electrical control system controls the grooving device 6 to perform grooving operations according to the grooving trajectory until the grooving operation ends.

[0062] During the grooving operation, if the protection device detects that someone enters or an unexpected event occurs, an emergency stop operation is performed through the human-machine interaction touch screen of the host computer control system 12.

[0063] When performing the grooving operation, the electrical control system 10 controls the cooling and dust removal device to start working. During the grooving operation, it continuously cools and removes dust from the grooving tool 5 of the grooving device 6, that is, continuously waters the grooving tool 5 until the grooving operation ends.

[0064] The above embodiments show that the present invention can be used to control an industrial robot to perform grooving operations, avoiding the danger of manual grooving, and can maintain a constant force operation to ensure the consistency of grooving. The operation is simple, efficient, with prominent economic benefits and strong practicability.

[0065] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic grooving system for a tunnel drainage trough, characterized in that, It includes a railway flat car (1), a generator (9), a robot fixing device, a grooving device (6), an industrial robot (2), and a control subsystem; Among them, the generator (9), the control subsystem, and the industrial robot (2) are all arranged on the railway flat car (1). Among them, the industrial robot (2) is fixed on the railway flat car (1) through the robot fixing device; the grooving device (6) is installed on the end flange of the industrial robot (2) through a flange plate; one end of the grooving device (6) away from the industrial robot (2) is provided with a multi-piece grooving cutter (5); The first control signal output end of the control subsystem is connected to the control signal input end of the industrial robot (2) to control the industrial robot (2) to drive the grooving device (6) to move; the second control signal output end of the control subsystem is connected to the control signal input end of the grooving device (6) to control the grooving device (6) to groove the surface to be grooved in the tunnel; The control subsystem includes a host computer control system (12), an electrical control system (10), and a robot control system (11). The host computer control system (12) is respectively connected to the electrical control system (10) and the robot control system (11). The control signal output end of the robot control system (11) is the first control signal output end, and the control signal output end of the electrical control system (10) is the second control signal output end; The automatic grooving system further includes a scanning device (7). The scanning device (7) is detachably installed on the grooving device (6). The information output end of the scanning device (7) is connected to the information input end of the electrical control system (10). The scanning signal input end of the scanning device (7) is connected to the scanning signal output end of the electrical control system (10). The scanning device (7) scans the information of the surface to be grooved according to the scanning signal output by the electrical control system (10) and transmits it back to the electrical control system (10). The electrical control system (10) then transmits the surface information to the host computer control system (12). The host computer control system (12) generates a grooving trajectory according to the surface information and transmits the grooving trajectory to the robot control system (11). The control signal output end of the robot control system (11) outputs a first control signal to control the industrial robot (2) to move according to the grooving trajectory. The host computer control system (12) also transmits the grooving trajectory to the electrical control system (10). The control signal output end of the electrical control system (10) outputs a second control signal to control the grooving device (6) to groove according to the grooving trajectory; The host computer control system (12) includes a host computer and a human-machine interactive touch display screen; The host computer is used to generate the grooving trajectory and the user control interface; The human-machine interaction touch display screen is used to display the user control interface and realize human-machine interaction, including the start, stop, emergency stop, selection operation functions of the automatic grooving system and the setting of relevant parameters, as well as previewing the grooving trajectory in advance and performing the pre-travel trajectory operation of the robot; The grooving device (6) further includes: A motor, the drive signal input end of the motor is connected to the drive signal output end of the electrical control system (10), and the motor is connected to the grooving tool (5) for driving the grooving tool (5); A constant force floating control device, the signal input end of the constant force floating control device is connected to the signal output end of the electrical control system (10), and the constant force floating control device is connected to the grooving tool (5) for keeping the grooving force of the grooving tool (5) constant within a certain range during the grooving process; The automatic grooving system further includes an attitude sensor, the attitude sensor is arranged on the grooving device (6), the attitude signal output end of the attitude sensor is connected to the attitude signal input end of the electrical control system (10), and the attitude sensor detects the motion attitude of the grooving device (6) in real time and transmits the motion attitude to the electrical control system (10); The robot fixing device includes a robot mounting bracket (3) and a robot fixing bottom plate (4), the robot mounting bracket (3) is fixedly connected to the railway flat car (1), the robot fixing bottom plate (4) is arranged on the robot bracket, and the industrial robot (2) is horizontally fixed on the robot bracket through the robot fixing plate; The automatic grooving system further includes a positioning device (13) arranged on the robot bracket, the positioning signal input end of the positioning device (13) is connected to the positioning signal output end of the electrical control system (10), and is used for marking the working range of the industrial robot (2) according to the positioning signal output by the electrical control system (10); The positioning device (13) adopts laser positioning, two positioning devices (13) are arranged on the robot mounting bracket (3), and the positioning devices (13) are arranged on the side facing the grooving operation to be performed, one on each side, left and right.

2. The automatic grooving system according to claim 1, characterized in that, The automatic grooving system further includes: A cooling and dust removal device, the cooling and dust removal device is arranged on the railway flat car (1), the cooling and dust removal signal input end of the cooling and dust removal device is connected to the cooling and dust removal signal output end of the electrical control system (10), and the cooling and dust removal device is used for cooling and removing dust from the grooving tool (5); A protection device, the protection device includes the waterproof and dustproof devices of the industrial robot (2), the guardrail around the railway flat car (1), the infrared sensors and alarm devices arranged around the guardrail, and the alarm signal output ends of the infrared sensors and the alarm devices are both connected to the alarm signal input end of the electrical control system (10).

3. An automatic grooving method for a tunnel drainage trough, which adopts the automatic grooving system described in any one of claims 1-2, is characterized in that, Including the following steps: S1. Use a tractor to tow the railway flat car (1) into the tunnel. The electrical control system (10) outputs a positioning signal to control the positioning device (13) to mark the working range of the industrial robot (2). According to the working range marked by the marking line of the positioning device (13), tow the tractor to place the surface to be grooved within the working range of the industrial robot (2), and lock the railway flat car (1). S2. Arrange the protection device and keep the protection device in the working state, and emit a lighting warning signal. S3. Set the grooving type through the host computer control system (12). The electrical control system (10) outputs a scanning signal to control the scanning device (7) to scan the surface to be grooved, obtain the curve data of the surface to be grooved and transmit it to the electrical control system (10). The electrical control system (10) then transmits the curve data of the surface to be grooved to the host computer control system (12). The host computer control system (12) generates a grooving curve model and further automatically generates a grooving trajectory. S4. Use the host computer control system (12) to preview the grooving trajectory, and use the user control interface of the host computer control system (12) to control the industrial robot (2) to perform a trajectory pre-cutting movement to determine whether the working trajectory conforms to the expected trajectory. If not, use the host computer control system (12) to modify the grooving trajectory, or the electrical control system (10) controls the scanning device (7) to rescan, and the host computer control system (12) regenerates the grooving trajectory until it conforms to the expected trajectory. S5. After the grooving trajectory conforms to the expected trajectory, the host computer control system (12) transmits the grooving trajectory to the robot control system (11). The control signal output end of the robot control system (11) outputs a first control signal to control the industrial robot (2) to move according to the grooving trajectory. The host computer control system (12) also transmits the grooving trajectory to the electrical control system (10). The control signal output end of the electrical control system (10) outputs a second control signal to control the grooving device (6) to perform grooving according to the grooving trajectory until the grooving operation ends. Among them, when the protection device detects that a person enters or an unexpected event occurs, an emergency stop operation is performed through the human-machine interaction touch display screen of the host computer control system (12). When starting the grooving operation, the electrical control system (10) outputs a dust removal signal to control the cooling and dust removal device to cool and remove dust from the grooving tool (5) of the grooving device (6) until the grooving operation ends.

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