Hydraulic control system of animal harmless transport vehicle and control method of hydraulic control system

Abstract

The invention relates to an anti-impact mute hydraulic control system and method for a small animal harmless transport vehicle. The system comprises a lock hook oil cylinder, a rear door oil cylinder, a small arm oil cylinder, a large arm oil cylinder, an oil supply device, a first control valve group, a second control valve group and a control unit. A displacement sensor is arranged in each oil cylinder and used for collecting position signals of a piston in real time. And a one-way proportional throttle valve is arranged in the control valve group. A PID algorithm is built in the control unit, the opening degree of the proportional throttle valve can be dynamically adjusted according to real-time position signals, and the oil cylinders are driven to operate strictly according to a slow-fast-slow S-shaped speed curve. Hydraulic start-stop impact and mechanical noise are effectively eliminated through closed-loop control, stable, accurate and low-noise action of the oil cylinder is achieved, interference to peripheral stress substances is remarkably reduced, and meanwhile the operation efficiency is considered.

Description

Technical Field

[0001] This invention relates to the field of garbage truck technology, specifically to a hydraulic control system and control method for an animal disposal vehicle. Background Technology

[0002] Animal carcass transport vehicles are indispensable specialized equipment for large-scale farms, primarily responsible for the collection and transfer of animal carcasses, such as pigs and poultry (e.g., chickens, ducks, geese). Large-scale farms typically feature high animal density and limited space, and the live animals within are extremely sensitive to external noise and vibration, easily experiencing stress that can lead to decreased productivity or even death. Therefore, the stability and low noise characteristics of the transport vehicles during operation are particularly important.

[0003] In traditional hydraulic systems for animal disposal vehicles, ordinary throttle valves are typically used to regulate the speed of the actuators. While this open-loop control method is simple in structure, sudden changes in flow during cylinder start-up, reversal, and stopping can easily generate significant hydraulic shocks, leading to loud noise and severe mechanical vibration. These shocks and vibrations not only exacerbate fatigue damage to structural components and affect the equipment's lifespan, but also cause continuous disturbance to surrounding animals in the farm, posing a risk of inducing group stress responses. Summary of the Invention

[0004] The problem addressed by this invention is to provide a hydraulic control system and control method for an animal harmless transport vehicle that can reduce hydraulic impact and produce less noise, in order to solve the problem that existing animal harmless transport vehicles are prone to inducing group emergency responses, leading to decreased production performance or even death.

[0005] This invention is achieved through the following technical solution: a hydraulic control system and control method for an animal harmless transport vehicle, comprising a hook cylinder, a rear door cylinder, a forearm cylinder, a boom cylinder, an oil supply device, a first control valve group, a second control valve group, and a control unit, wherein the oil supply device is provided with an oil supply end and an oil return end;

[0006] The first control valve group includes a solenoid directional valve I, a one-way proportional throttle valve I, a one-way proportional throttle valve II, a sequence valve I, a sequence valve II, a hydraulically controlled check valve I, and a hydraulically controlled check valve II. The P port and T port of the solenoid directional valve I are connected to the oil supply end and the oil return end, respectively. The lower chamber of the locking hook cylinder is connected sequentially to the A port of the one-way proportional throttle valve II and the solenoid directional valve I via oil pipes. The upper chamber of the locking hook cylinder is connected sequentially to the B port of the hydraulically controlled check valve I, the sequence valve I, the one-way proportional throttle valve I, and the solenoid directional valve I via oil pipes. The lower chamber of the rear door cylinder is connected sequentially to the A port of the sequence valve II, the one-way proportional throttle valve II, and the solenoid directional valve I via oil pipes. The upper chamber of the rear door cylinder is connected sequentially to the B port of the hydraulically controlled check valve II, the one-way proportional throttle valve I, and the solenoid directional valve I via oil pipes.

[0007] The second control valve group includes a second solenoid directional valve, a third one-way proportional throttle valve, a fourth one-way proportional throttle valve, a third sequence valve, and a fourth sequence valve. The P port and T port of the second solenoid directional valve are connected to the oil supply end and the oil return end, respectively. The lower chamber of the boom cylinder is connected to the B port of the third one-way proportional throttle valve and the second solenoid directional valve via oil pipes. The upper chamber of the boom cylinder is connected to the A port of the third sequence valve, the fourth one-way proportional throttle valve, and the second solenoid directional valve via oil pipes. The lower chamber of the boom cylinder is connected to the B port of the fourth sequence valve, the third one-way proportional throttle valve, and the second solenoid directional valve via oil pipes. The upper chamber of the boom cylinder is connected to the A port of the fourth one-way proportional throttle valve and the second solenoid directional valve via oil pipes.

[0008] The locking hook cylinder, rear door cylinder, forearm cylinder, and boom cylinder are all equipped with displacement sensors, which are used to collect the position signals of the cylinder pistons in real time.

[0009] The control unit is configured to have a built-in PID algorithm, which can collect the position signal of the cylinder piston in real time based on the displacement sensor, and control the opening of the one-way proportional throttle valve in real time, so that each actuator cylinder runs according to the S-shaped speed curve of "slow-fast-slow".

[0010] Furthermore, the S-shaped speed curve is as follows: during the initial and final stages of the cylinder movement, the speed increases or decreases slowly, while the speed remains constant or close to the rated speed in the middle of the stroke, wherein the rate of speed change during the initial and final stages is less than the rate of speed change in the middle of the stroke.

[0011] Furthermore, the displacement sensor is a linear displacement sensor, integrated inside the hydraulic cylinder, used to continuously detect the displacement of the hydraulic cylinder piston.

[0012] Furthermore, the control unit is configured to include a normal mode and a silent mode. The silent mode is characterized by the ability to collect the position signal of the cylinder piston in real time based on the displacement sensor and control the opening of the one-way proportional throttle valve in real time, so that each actuator cylinder runs according to an S-shaped speed curve of "slow-fast-slow". The normal mode is characterized by adjusting the opening of each one-way proportional throttle valve to the maximum, without limiting the speed of each cylinder. The normal mode and the silent mode can be switched according to the signal.

[0013] Furthermore, the control unit is equipped with a mode switching button.

[0014] Furthermore, an image recognition module is installed on the outer shell of the animal vehicle to detect whether there are live poultry or livestock around the vehicle.

[0015] Another aspect of the present invention provides a control method for a hydraulic control method of an animal carcass transport vehicle.

[0016] 1. Start the control unit. The control unit has a built-in PID algorithm and a pre-stored "slow-fast-slow" S-shaped speed curve. The S-shaped speed curve satisfies the following: the speed change rate in the initial and final stages is less than the speed change rate in the middle of the stroke, and the speed in the middle of the stroke remains constant or close to the rated speed.

[0017] 2. By integrating linear displacement sensors into the locking hook cylinder, rear door cylinder, boom cylinder and boom cylinder, the position signals of the pistons of each cylinder are collected in real time and fed back to the control unit.

[0018] 3. The control unit processes the position signal based on the PID algorithm, generates a proportional flow control signal, and transmits it to the first control valve group and the second control valve group, specifically to the one-way proportional throttle valve 1, one-way proportional throttle valve 2, one-way proportional throttle valve 3, and one-way proportional throttle valve 4.

[0019] IV. One-way proportional throttle valve I. One-way proportional throttle valve II. One-way proportional throttle valve III. One-way proportional throttle valve IV. The opening degree is dynamically adjusted according to the control signal to control the amount of oil input from the oil supply device to the corresponding oil cylinder cavity, so that each oil cylinder runs along the preset S-shaped speed curve, realizing smooth start-up transition, efficient operation in the middle section and gentle contact at the end.

[0020] Furthermore, a mode selection signal is received via a mode switching button configured on the control unit, the mode selection signal including a normal mode command and a silent mode command;

[0021] If a silent mode command is received, the control unit executes the steps described in claim 1, and controls the opening of the one-way proportional throttle valve in a closed loop through the feedback signal from the displacement sensor, so that the cylinder runs according to the S-shaped speed curve.

[0022] If a normal mode command is received, the control unit outputs a maximum opening control signal to all one-way proportional throttle valves to release the speed limit and enable each cylinder to operate at maximum efficiency.

[0023] Furthermore, the image recognition module installed on the outer shell of the transport vehicle is activated to collect images of the surrounding environment of the vehicle in real time and perform liveness detection to identify whether there are live poultry or livestock.

[0024] The image recognition module converts the detection results into status signals and transmits them to the control unit. The status signals include two types: "live body present" and "no live body".

[0025] The control unit receives the status signal and determines: if the signal is "live body present", it automatically switches to silent mode, controls each cylinder to run at low speed according to the S-shaped speed curve, and limits the running speed to within the preset safety threshold; if the signal is "no live body", it maintains the current operating mode or allows switching to normal mode.

[0026] In the "live body present" state, if the displacement sensor detects that the cylinder is about to reach its limit position, the control unit increases the PID adjustment coefficient to further reduce the rate of speed change and ensure that there is no impact noise when the action ends.

[0027] The beneficial effects of this invention are:

[0028] 1. This invention uses a closed-loop control system consisting of a displacement sensor and a proportional valve to ensure that the hydraulic cylinder operates strictly according to an S-shaped speed curve of "slow-fast-slow". This eliminates the hydraulic shock and mechanical collision noise caused by sudden changes in flow rate during start-up and shutdown in traditional hydraulic systems. It achieves extreme smoothness and gentleness at the start and end of the action, significantly reduces equipment operating noise, and effectively avoids disturbing easily stressed animals in the surrounding area.

[0029] 2. This invention does not simply reduce speed throughout the entire stroke, but uses a precise PID algorithm to perform segmented optimization control of the cylinder stroke. While ensuring extreme smoothness during the start-up and stopping phases, it ensures efficient operation at near-rated speed during the main stroke segments in the middle. This achieves excellent shock resistance and quiet operation while minimizing the impact on the overall work cycle and operating efficiency, thus achieving a perfect balance between stability and work efficiency.

[0030] 3. This invention introduces a switchable normal and silent dual mode and integrates image recognition technology. This allows the equipment to automatically or manually switch operating strategies based on whether there are live poultry and livestock in the surrounding environment. In the breeding area where a quiet environment is required, a gentle silent mode is automatically activated, while in other situations, efficiency is prioritized. It combines low noise and high efficiency, intelligently ensuring the safety of poultry and livestock and operational flexibility. Attached Figure Description

[0031] Figure 1 This is a structural schematic diagram (oblique upward view) of an animal harmless transport vehicle according to the present invention.

[0032] Figure 2 This is a hydraulic circuit diagram of the hydraulic control system of an animal harmless transport vehicle according to the present invention.

[0033] Figure 3 This is a system block diagram of the hydraulic control system of an animal harmless transport vehicle according to the present invention;

[0034] Figure 4 This is an S-shaped speed curve diagram of the hydraulic control system of an animal harmless transport vehicle according to the present invention, showing a "slow-fast-slow" pattern.

[0035] In the diagram: 1. Locking hook cylinder; 2. Rear door cylinder; 3. Forearm cylinder; 4. Boom cylinder; 5. Oil supply device;

[0036] 6. First control valve group; 601. Solenoid directional valve one; 602. One-way proportional throttle valve one; 603. One-way proportional throttle valve two; 604. Sequence valve one; 605. Sequence valve two; 606. Hydraulic check valve one; 607. Hydraulic check valve two;

[0037] 7. Second control valve group; 701. Solenoid directional valve II; 702. One-way proportional throttle valve III; 703. One-way proportional throttle valve IV; 704. Sequence valve III; 705. Sequence valve IV;

[0038] 8. Control unit; 9. Mode switching button; 10. Image recognition module. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] like Figure 1As shown, let me briefly introduce the animal harmless transport vehicle, which includes a chassis and a superstructure. A rear door is located at the rear of the vehicle, which can be opened by a valve cylinder. A locking hook cylinder 1 is located on the bottom surface near the rear of the vehicle. The locking hook cylinder 1 is mainly used to hook the connecting lug below the rear door to prevent the rear door from shaking. A feed inlet is located at the upper part of the vehicle, covered with a sealing cap. A large arm and a small arm are hinged to the side of the vehicle, driven by a large arm cylinder 4 and a small arm cylinder 3 respectively, which can drive the sealing cap to open and flip. In existing animal transport vehicles, the opening and closing of the rear door and the movement of the sealing cap often produce noise, causing stress reactions in animals, decreased productivity, and even death.

[0041] like Figure 2 As shown, the hydraulic control system of the animal harmless transport vehicle described in this solution includes a hook cylinder 1, a rear door cylinder 2, a forearm cylinder 3, a boom cylinder 4, an oil supply device 5, a first control valve group 6, a second control valve group 7, and a control unit. The oil supply device 5 is provided with an oil supply end and an oil return end.

[0042] The first control valve group 6 includes a solenoid directional valve 601, a one-way proportional throttle valve 602, a one-way proportional throttle valve 603, a sequence valve 604, a sequence valve 605, a hydraulically controlled check valve 606, and a hydraulically controlled check valve 607. The P port and T port of the solenoid directional valve 601 are connected to the oil supply end and the oil return end, respectively. The lower chamber of the locking hook cylinder 1 is connected in sequence to the one-way proportional throttle valve 603 and the A port of the solenoid directional valve 601 via oil pipes. The upper chamber of the locking hook cylinder 1 is connected in sequence to the hydraulically controlled check valve 606, the sequence valve 604, and the one-way proportional throttle valve 607 via oil pipes. 2. Port B of the electromagnetic directional valve; the lower chamber of the rear door cylinder 2 is connected in sequence to port A of sequence valve 605, one-way proportional throttle valve 603, and electromagnetic directional valve 601 via oil pipes; the upper chamber of the rear door cylinder 2 is connected in sequence to port B of hydraulic check valve 607, one-way proportional throttle valve 602, and electromagnetic directional valve 601 via oil pipes; electromagnetic directional valve 601 is used to control the action of the locking hook cylinder 1 and the rear door cylinder 2, wherein the locking hook cylinder 1 and the rear door cylinder 2 are arranged in parallel, and sequence valve 604 and sequence valve 605 are used to control the sequential action order of the locking hook cylinder 1 and the rear door cylinder 2.

[0043] The second control valve group 7 includes a second electromagnetic directional valve 701, a third one-way proportional throttle valve 702, a fourth one-way proportional throttle valve 703, a third sequence valve 704, and a fourth sequence valve 705; the P port and T port of the second electromagnetic directional valve 701 are connected to the oil supply end and the oil return end, respectively; the lower chamber of the boom cylinder 3 is connected in sequence to the B port of the third one-way proportional throttle valve 702 and the second electromagnetic directional valve 701 via oil pipes; the upper chamber of the boom cylinder 3 is connected in sequence to the third sequence valve 704, the fourth one-way proportional throttle valve 703, and the second electromagnetic directional valve 701 via oil pipes. Port A of the boom cylinder 4 is connected to the lower chamber of the boom cylinder 4 via oil pipes. The lower chamber of the boom cylinder 4 is connected to the B port of the sequence valve 705, the one-way proportional throttle valve 702, and the solenoid directional valve 701 via oil pipes. The upper chamber of the boom cylinder 4 is connected to the A port of the one-way proportional throttle valve 703 and the solenoid directional valve 701 via oil pipes. The solenoid directional valve 701 controls the movement of the boom cylinder and the forearm cylinder 3, which are connected in parallel. The sequence valves 704 and 705 control the sequential movement of the hook cylinder 1 and the rear door cylinder 2.

[0044] The locking hook cylinder 1, the rear door cylinder 2, the forearm cylinder 3, and the boom cylinder 4 are all equipped with displacement sensors, which are used to collect the position signals of the cylinder pistons in real time.

[0045] The control unit 8 is configured to have a built-in PID algorithm, capable of real-time control of the opening of the one-way proportional throttle valve based on the position signal of the cylinder piston collected by the displacement sensor, so that each actuator cylinder runs according to an S-shaped speed curve of "slow-fast-slow". Figure 4 As shown, the vertical axis represents the displacement of the hydraulic cylinder piston, the horizontal axis represents the action time of the hydraulic cylinder, the slope of the curve represents the speed, the curve is S-shaped, and the speed is "slow-fast-slow".

[0046] In this system, the core consists of a locking hook cylinder 1, a rear door cylinder 2, a forearm cylinder 3, a boom cylinder 4, an oil supply device 5, a first control valve group 6, a second control valve group 7, and a control unit. Each cylinder has a built-in displacement sensor that continuously reports the precise position of the piston to the control unit. The control unit has a pre-stored ideal "slow-fast-slow" S-shaped speed curve. It receives real-time position signals from the displacement sensors and calculates them using a PID algorithm. The PID algorithm compares the "current position" with the "ideal position of that point on the S-curve." If it finds that the cylinder is moving too fast, it sends a signal to decrease the proportional valve opening; if it is too slow, it increases the opening. The control signal output by the control unit directly acts on the four one-way proportional throttle valves in the first and second valve groups. By dynamically and continuously adjusting the opening of these valves, the flow rate of hydraulic oil entering and exiting the cylinders is precisely controlled, thereby achieving real-time, closed-loop control of the movement speed of each cylinder, ensuring that it strictly follows the preset S-shaped curve movement. This solution eliminates the hydraulic shocks and mechanical collision noises caused by sudden acceleration and emergency braking of the cylinders in traditional systems through "slow start" and "slow stop". Smooth speed changes result in very gentle movements of the entire robotic arm and body, avoiding violent shaking. Closed-loop PID control ensures that the cylinders can accurately track the preset speed curve, resulting in good repeatability and accurate positioning. Furthermore, reduced shocks and vibrations decrease wear on mechanical components and hydraulic parts, extending the equipment's service life.

[0047] In practical applications, the S-shaped speed curve is as follows: during the initial and final stages of the cylinder's movement, the speed increases or decreases slowly, while in the middle of the stroke, the speed remains constant or close to the rated speed. The rate of speed change during the initial and final stages is less than that during the middle of the stroke. This ensures high efficiency for most of the stroke, with precise and smooth control only at the beginning and end, achieving a perfect balance between efficiency and quiet operation.

[0048] In practical applications, the displacement sensor is a linear displacement sensor integrated inside the hydraulic cylinder, used to continuously detect the displacement of the cylinder piston. The built-in sensor avoids the impacts, contamination, and interference that external sensors may experience, resulting in a more stable and accurate signal.

[0049] In practical applications, the control unit 8 is configured to include a normal mode and a silent mode. In silent mode, the position signal of the cylinder piston is collected in real time by a displacement sensor, and the opening of the one-way proportional throttle valve is controlled in real time to make each actuator cylinder operate according to an S-shaped speed curve of "slow-fast-slow". In normal mode, the opening of each one-way proportional throttle valve is adjusted to the maximum, without limiting the speed of each cylinder. The normal mode and silent mode can be switched according to the signal. When the transport vehicle is operating in a situation where quiet operation is not required, it can be switched to normal mode to achieve the highest work efficiency.

[0050] In practical applications, such as Figure 3 As shown, the control unit 8 is equipped with a mode switching button 9. The operator can switch modes with a single button press, and the system can immediately respond to the command and change the control strategy.

[0051] In practical applications, such as Figure 3 As shown, an image recognition module 10 is also provided, which is installed on the outer shell of the animal vehicle to detect whether there are live poultry or livestock around the vehicle. The system can automatically sense the environment and make optimal decisions without relying on manual judgment, thereby minimizing animal stress caused by human negligence and improving the intelligence and reliability of the equipment.

[0052] Another aspect of the present invention provides a control method for a hydraulic control method of an animal carcass transport vehicle.

[0053] 1. Start the control unit 8. The control unit 8 has a built-in PID algorithm and a pre-stored "slow-fast-slow" S-shaped speed curve. The S-shaped speed curve satisfies the following: the speed change rate in the initial and final stages is less than the speed change rate in the middle of the stroke, and the speed in the middle of the stroke remains constant or close to the rated speed.

[0054] 2. Linear displacement sensors integrated inside the locking hook cylinder 1, rear door cylinder 2, forearm cylinder 3 and boom cylinder 4 are used to collect the position signals of the pistons of each cylinder in real time and feed them back to the control unit 8.

[0055] Third, the control unit 8 processes the position signal based on the PID algorithm, generates a proportional flow control signal, and transmits it to the one-way proportional throttle valve 602, one-way proportional throttle valve 603, one-way proportional throttle valve 702, and one-way proportional throttle valve 703 in the first control valve group 6 and the second control valve group 7.

[0056] IV. One-way proportional throttle valve 1 (602), one-way proportional throttle valve 2 (603), one-way proportional throttle valve 3 (702), and one-way proportional throttle valve 4 (703) dynamically adjust their opening according to the control signal, control the amount of oil input from the oil supply device 5 to the corresponding cylinder cavity, so that each cylinder runs along the preset S-shaped speed curve, achieving smooth start-up transition, efficient operation in the middle section, and gentle contact at the end.

[0057] In practical applications, the mode selection signal is received through the mode switching button 9 configured in the control unit 8. The mode selection signal includes a normal mode command and a silent mode command.

[0058] If a silent mode command is received, the control unit 8 executes the steps described in claim 1, and controls the opening of the one-way proportional throttle valve in a closed loop through the feedback signal from the displacement sensor, so that the oil cylinder runs according to the S-shaped speed curve.

[0059] If a normal mode command is received, the control unit 8 outputs a maximum opening control signal to all one-way proportional throttle valves to release the speed limit and enable each cylinder to operate at maximum efficiency.

[0060] In practical applications, the image recognition module 10 installed on the outer shell of the transport vehicle is activated to collect images of the surrounding environment of the vehicle in real time and perform liveness detection to identify whether there are live poultry or livestock.

[0061] The image recognition module 10 converts the detection result into a status signal and transmits it to the control unit 8. The status signal includes two types: "live body present" and "no live body".

[0062] The control unit 8 receives the status signal and determines: if the signal is "live body present", it automatically switches to silent mode, controls each cylinder to run at low speed according to the S-shaped speed curve, and limits the running speed to within the preset safety threshold; if the signal is "no live body", it maintains the current operating mode or allows switching to normal mode.

[0063] In the "live body present" state, if the displacement sensor detects that the cylinder is about to reach its limit position, the control unit 8 increases the PID adjustment coefficient to further reduce the rate of speed change and ensure that there is no impact noise when the action ends.

[0064] In summary, the present invention can effectively mitigate the impact and noise during the start-up and shutdown phases, while maintaining high operating efficiency during continuous operation, thus combining the advantages of safety, low noise, and high efficiency.

[0065] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the above embodiments are merely illustrative of the technical concept and characteristics of the present invention, intended to enable those skilled in the art to understand and implement the invention, and should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A hydraulic control system for an animal rendering transport vehicle, characterized by: The hydraulic control system comprises a locking hook oil cylinder (1), a rear door oil cylinder (2), a small arm oil cylinder (3), a large arm oil cylinder (4), an oil supply device (5), a first control valve group (6), a second control valve group (7) and a control unit (8), wherein the oil supply device (5) is provided with an oil supply end and an oil return end; The first control valve group (6) comprises an electromagnetic reversing valve (601), a one-way proportional throttle valve (602), a one-way proportional throttle valve (603), a sequence valve (604), a sequence valve (605), a hydraulic control one-way valve (606) and a hydraulic control one-way valve (607); the P port and the T port of the electromagnetic reversing valve (601) are connected with the oil supply end and the oil return end, respectively; the lower cavity of the locking hook oil cylinder (1) is connected with the one-way proportional throttle valve (603) and the A port of the electromagnetic reversing valve (601) through an oil pipe in sequence; the upper cavity of the locking hook oil cylinder (1) is connected with the hydraulic control one-way valve (606), the sequence valve (604), the one-way proportional throttle valve (602) and the B port of the electromagnetic reversing valve through an oil pipe in sequence; the lower cavity of the rear door oil cylinder (2) is connected with the sequence valve (605), the one-way proportional throttle valve (603) and the A port of the electromagnetic reversing valve (601) through an oil pipe in sequence; the upper cavity of the rear door oil cylinder (2) is connected with the hydraulic control one-way valve (607), the one-way proportional throttle valve (602) and the B port of the electromagnetic reversing valve (601) through an oil pipe in sequence; The second control valve group (7) comprises an electromagnetic reversing valve (701), a one-way proportional throttle valve (702), a one-way proportional throttle valve (703), a sequence valve (704) and a sequence valve (705); the P port and the T port of the electromagnetic reversing valve (701) are connected with the oil supply end and the oil return end, respectively; the lower cavity of the small arm oil cylinder (3) is connected with the one-way proportional throttle valve (702) and the B port of the electromagnetic reversing valve (701) through an oil pipe in sequence; the upper cavity of the small arm oil cylinder (3) is connected with the sequence valve (704), the one-way proportional throttle valve (703) and the A port of the electromagnetic reversing valve (701) through an oil pipe in sequence; the lower cavity of the large arm oil cylinder (4) is connected with the sequence valve (705), the one-way proportional throttle valve (702) and the B port of the electromagnetic reversing valve (701) through an oil pipe in sequence; the upper cavity of the large arm oil cylinder (4) is connected with the one-way proportional throttle valve (703) and the A port of the electromagnetic reversing valve (701) through an oil pipe in sequence; The locking hook oil cylinder (1), the rear door oil cylinder (2), the small arm oil cylinder (3) and the large arm oil cylinder (4) are all provided with a displacement sensor; the displacement sensor is used for collecting the position signal of the oil cylinder piston in real time; The control unit (8) is configured to have a PID algorithm, can collect the position signal of the oil cylinder piston in real time according to the displacement sensor, control the opening degree of the one-way proportional throttle valve in real time, and make each execution oil cylinder run according to the S-shaped speed curve of "slow-fast-slow".

2. The hydraulic control system of the animal harmless transport vehicle according to claim 1, characterized in that: The S-shaped speed curve is: in the initial stage and the end stage of the cylinder movement, the speed increases or decreases slowly, and the speed in the middle stage of the stroke remains constant or close to the rated speed, wherein the speed change rate in the initial stage and the end stage is smaller than that in the middle stage of the stroke.

3. The hydraulic control system for an animal humane transport vehicle of claim 1, wherein: The displacement sensor is a linear displacement sensor integrated in the cylinder for continuously detecting the displacement of the cylinder piston.

4. The hydraulic control system for an animal humane transport vehicle of claim 1, wherein: The control unit (8) is configured to be further configured with a normal mode and a silent mode, the silent mode is the above-mentioned mode capable of collecting the position signal of the cylinder piston in real time according to the displacement sensor, and controlling the opening degree of the one-way proportional throttle valve in real time, so that each execution cylinder operates according to the S-shaped speed curve of "slow-fast-slow", and the normal mode is that the opening degree of each one-way proportional throttle valve is adjusted to the maximum, without limiting the speed of each cylinder, and the normal mode and the silent mode can be switched according to the signal.

5. A hydraulic control system for an animal humane transport vehicle as defined in claim 4, wherein: The control unit (8) is provided with a mode switching button (9).

6. The hydraulic control system for an animal humane transport vehicle of claim 4, wherein: An image recognition module (10) is further provided, which is installed on the shell of the animal car and is used for detecting whether there is live poultry or livestock around the car body.

7. The control method of the hydraulic control system of the animal harmless transport vehicle according to claim 1, characterized in that: I. starting the control unit (8), the control unit (8) is built-in PID algorithm and pre-stores the "slow-fast-slow" S-shaped speed curve, the S-shaped speed curve meets: the speed change rate in the initial stage and the end stage is smaller than that in the middle stage of the stroke, and the speed in the middle stage of the stroke remains constant or close to the rated speed; II. collecting the position signal of each cylinder piston in real time through the linear displacement sensor integrated in the lock hook cylinder (1), the rear door cylinder (2), the small arm cylinder (3) and the large arm cylinder (4) and feeding back to the control unit (8); III. the control unit (8) processes the position signal based on the PID algorithm, generates a proportional flow control signal and transmits it to the one-way proportional throttle valve one (602), the one-way proportional throttle valve two (603), the one-way proportional throttle valve three (702) and the one-way proportional throttle valve four (703) in the first control valve group (6) and the second control valve group (7); IV. the one-way proportional throttle valve one (602), the one-way proportional throttle valve two (603), the one-way proportional throttle valve three (702) and the one-way proportional throttle valve four (703) dynamically adjust the opening degree according to the control signal, control the oil amount input to the corresponding cylinder cavity of the oil supply device (5), so that each cylinder operates along the preset S-shaped speed curve, realizes smooth transition in starting, efficient operation in the middle stage and gentle contact at the end.

8. The control method of the hydraulic control system of the animal harmless transport vehicle according to claim 7, characterized in that: the mode switching button (9) configured by the control unit (8) receives a mode selection signal, the mode selection signal includes a normal mode instruction and a silent mode instruction; if the silent mode instruction is received, the control unit (8) executes the steps of claim 1, and controls the opening degree of the one-way proportional throttle valve through the feedback signal of the displacement sensor in a closed loop, so that the cylinder operates according to the S-shaped speed curve; If receiving the normal mode instruction, the control unit (8) outputs the maximum opening control signal to all one-way proportional throttle valves, removes the speed limit, and enables each oil cylinder to operate at the maximum efficiency.

9. The control method of the hydraulic control system of the animal humane transport vehicle according to claim 7, characterized in that: An image recognition module (10) installed on the vehicle shell is started to collect images of the environment around the vehicle body in real time and perform living body detection to identify whether there are living poultry or livestock; The image recognition module (10) converts the detection results into state signals and transmits them to the control unit (8), and the state signals include two types of "living body exists" and "no living body"; The control unit (8) receives the state signal and judges: if it is a "living body exists" signal, it automatically switches to the silent mode, controls each oil cylinder to operate at low speed according to the S-shaped speed curve, and limits the operating speed within the preset safety threshold; if it is a "no living body" signal, it maintains the current operating mode or allows switching to the normal mode; In the "living body exists" state, if the displacement sensor detects that the oil cylinder is about to reach the limit position, the control unit (8) increases the PID adjustment coefficient to further reduce the speed change rate, ensuring that there is no impact noise when the action is terminated.

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